diff --git a/MANIFEST.jsonl b/MANIFEST.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89942eb6b2ab4b7a7ab66d1e6ee7f6e73b16cc50
--- /dev/null
+++ b/MANIFEST.jsonl
@@ -0,0 +1,200 @@
+{"history_id": 1798, "dataset_name": "TASK02_A210041B900443_20260723_045147", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045147_to_lerobot", "start_time": "2026-07-23 04:51:47", "end_time": "2026-07-23 04:52:04", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1799, "dataset_name": "TASK02_A210041B900443_20260723_045205", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045205_to_lerobot", "start_time": "2026-07-23 04:52:05", "end_time": "2026-07-23 04:52:25", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1800, "dataset_name": "TASK02_A210041B900443_20260723_045256", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045256_to_lerobot", "start_time": "2026-07-23 04:52:56", "end_time": "2026-07-23 04:53:21", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1801, "dataset_name": "TASK02_A210041B900443_20260723_045341", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045341_to_lerobot", "start_time": "2026-07-23 04:53:41", "end_time": "2026-07-23 04:53:59", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1802, "dataset_name": "TASK02_A210041B900443_20260723_045401", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045401_to_lerobot", "start_time": "2026-07-23 04:54:01", "end_time": "2026-07-23 04:54:22", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1803, "dataset_name": "TASK02_A210041B900443_20260723_045426", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045426_to_lerobot", "start_time": "2026-07-23 04:54:26", "end_time": "2026-07-23 04:54:49", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1804, "dataset_name": "TASK02_A210041B900443_20260723_045451", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045451_to_lerobot", "start_time": "2026-07-23 04:54:51", "end_time": "2026-07-23 04:55:13", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1805, "dataset_name": "TASK02_A210041B900443_20260723_045515", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045515_to_lerobot", "start_time": "2026-07-23 04:55:15", "end_time": "2026-07-23 04:55:36", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1806, "dataset_name": "TASK02_A210041B900443_20260723_045540", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045540_to_lerobot", "start_time": "2026-07-23 04:55:40", "end_time": "2026-07-23 04:56:01", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1807, "dataset_name": "TASK02_A210041B900443_20260723_045603", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045603_to_lerobot", "start_time": "2026-07-23 04:56:03", "end_time": "2026-07-23 04:56:25", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1808, "dataset_name": "TASK02_A210041B900443_20260723_045627", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045627_to_lerobot", "start_time": "2026-07-23 04:56:27", "end_time": "2026-07-23 04:56:45", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1809, "dataset_name": "TASK02_A210041B900443_20260723_045647", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045647_to_lerobot", "start_time": "2026-07-23 04:56:47", "end_time": "2026-07-23 04:57:12", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1810, "dataset_name": "TASK02_A210041B900443_20260723_045714", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045714_to_lerobot", "start_time": "2026-07-23 04:57:14", "end_time": "2026-07-23 04:57:37", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1811, "dataset_name": "TASK02_A210041B900443_20260723_045738", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045738_to_lerobot", "start_time": "2026-07-23 04:57:38", "end_time": "2026-07-23 04:58:06", "duration": 28, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1812, "dataset_name": "TASK02_A210041B900443_20260723_045905", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045905_to_lerobot", "start_time": "2026-07-23 04:59:05", "end_time": "2026-07-23 04:59:24", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1813, "dataset_name": "TASK02_A210041B900443_20260723_045928", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045928_to_lerobot", "start_time": "2026-07-23 04:59:28", "end_time": "2026-07-23 04:59:52", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1814, "dataset_name": "TASK02_A210041B900443_20260723_045955", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_045955_to_lerobot", "start_time": "2026-07-23 04:59:55", "end_time": "2026-07-23 05:00:19", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1815, "dataset_name": "TASK02_A210041B900443_20260723_050021", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050021_to_lerobot", "start_time": "2026-07-23 05:00:21", "end_time": "2026-07-23 05:00:47", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1816, "dataset_name": "TASK02_A210041B900443_20260723_050101", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050101_to_lerobot", "start_time": "2026-07-23 05:01:01", "end_time": "2026-07-23 05:01:22", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1817, "dataset_name": "TASK02_A210041B900443_20260723_050126", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050126_to_lerobot", "start_time": "2026-07-23 05:01:26", "end_time": "2026-07-23 05:01:50", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1818, "dataset_name": "TASK02_A210041B900443_20260723_050153", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050153_to_lerobot", "start_time": "2026-07-23 05:01:53", "end_time": "2026-07-23 05:02:17", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1819, "dataset_name": "TASK02_A210041B900443_20260723_050224", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050224_to_lerobot", "start_time": "2026-07-23 05:02:24", "end_time": "2026-07-23 05:02:42", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1820, "dataset_name": "TASK02_A210041B900443_20260723_050247", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050247_to_lerobot", "start_time": "2026-07-23 05:02:47", "end_time": "2026-07-23 05:03:05", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1821, "dataset_name": "TASK02_A210041B900443_20260723_050307", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050307_to_lerobot", "start_time": "2026-07-23 05:03:07", "end_time": "2026-07-23 05:03:25", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1822, "dataset_name": "TASK02_A210041B900443_20260723_050346", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050346_to_lerobot", "start_time": "2026-07-23 05:03:46", "end_time": "2026-07-23 05:04:08", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1823, "dataset_name": "TASK02_A210041B900443_20260723_050410", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050410_to_lerobot", "start_time": "2026-07-23 05:04:10", "end_time": "2026-07-23 05:04:32", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1824, "dataset_name": "TASK02_A210041B900443_20260723_050434", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050434_to_lerobot", "start_time": "2026-07-23 05:04:34", "end_time": "2026-07-23 05:04:57", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1825, "dataset_name": "TASK02_A210041B900443_20260723_050500", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050500_to_lerobot", "start_time": "2026-07-23 05:05:00", "end_time": "2026-07-23 05:05:22", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1826, "dataset_name": "TASK02_A210041B900443_20260723_050534", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050534_to_lerobot", "start_time": "2026-07-23 05:05:34", "end_time": "2026-07-23 05:06:02", "duration": 28, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1827, "dataset_name": "TASK02_A210041B900443_20260723_050607", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050607_to_lerobot", "start_time": "2026-07-23 05:06:07", "end_time": "2026-07-23 05:06:28", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1828, "dataset_name": "TASK02_A210041B900443_20260723_050738", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050738_to_lerobot", "start_time": "2026-07-23 05:07:38", "end_time": "2026-07-23 05:07:56", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1829, "dataset_name": "TASK02_A210041B900443_20260723_050757", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050757_to_lerobot", "start_time": "2026-07-23 05:07:57", "end_time": "2026-07-23 05:08:16", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1830, "dataset_name": "TASK02_A210041B900443_20260723_050818", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050818_to_lerobot", "start_time": "2026-07-23 05:08:18", "end_time": "2026-07-23 05:08:46", "duration": 28, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1831, "dataset_name": "TASK02_A210041B900443_20260723_050903", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050903_to_lerobot", "start_time": "2026-07-23 05:09:03", "end_time": "2026-07-23 05:09:21", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1832, "dataset_name": "TASK02_A210041B900443_20260723_050923", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050923_to_lerobot", "start_time": "2026-07-23 05:09:23", "end_time": "2026-07-23 05:09:43", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1833, "dataset_name": "TASK02_A210041B900443_20260723_050944", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_050944_to_lerobot", "start_time": "2026-07-23 05:09:44", "end_time": "2026-07-23 05:10:02", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1834, "dataset_name": "TASK02_A210041B900443_20260723_051003", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051003_to_lerobot", "start_time": "2026-07-23 05:10:03", "end_time": "2026-07-23 05:10:23", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1835, "dataset_name": "TASK02_A210041B900443_20260723_051026", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051026_to_lerobot", "start_time": "2026-07-23 05:10:26", "end_time": "2026-07-23 05:10:43", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1836, "dataset_name": "TASK02_A210041B900443_20260723_051045", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051045_to_lerobot", "start_time": "2026-07-23 05:10:45", "end_time": "2026-07-23 05:11:03", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1837, "dataset_name": "TASK02_A210041B900443_20260723_051106", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051106_to_lerobot", "start_time": "2026-07-23 05:11:06", "end_time": "2026-07-23 05:11:22", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1838, "dataset_name": "TASK02_A210041B900443_20260723_051123", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051123_to_lerobot", "start_time": "2026-07-23 05:11:23", "end_time": "2026-07-23 05:11:43", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1839, "dataset_name": "TASK02_A210041B900443_20260723_051144", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051144_to_lerobot", "start_time": "2026-07-23 05:11:44", "end_time": "2026-07-23 05:12:05", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1840, "dataset_name": "TASK02_A210041B900443_20260723_051206", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051206_to_lerobot", "start_time": "2026-07-23 05:12:06", "end_time": "2026-07-23 05:12:26", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1841, "dataset_name": "TASK02_A210041B900443_20260723_051230", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051230_to_lerobot", "start_time": "2026-07-23 05:12:30", "end_time": "2026-07-23 05:12:53", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1842, "dataset_name": "TASK02_A210041B900443_20260723_051403", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051403_to_lerobot", "start_time": "2026-07-23 05:14:03", "end_time": "2026-07-23 05:14:26", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1843, "dataset_name": "TASK02_A210041B900443_20260723_051428", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051428_to_lerobot", "start_time": "2026-07-23 05:14:28", "end_time": "2026-07-23 05:14:48", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1844, "dataset_name": "TASK02_A210041B900443_20260723_051450", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051450_to_lerobot", "start_time": "2026-07-23 05:14:50", "end_time": "2026-07-23 05:15:12", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1846, "dataset_name": "TASK02_A210041B900443_20260723_051538", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051538_to_lerobot", "start_time": "2026-07-23 05:15:38", "end_time": "2026-07-23 05:15:57", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1847, "dataset_name": "TASK02_A210041B900443_20260723_051602", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_051602_to_lerobot", "start_time": "2026-07-23 05:16:02", "end_time": "2026-07-23 05:16:21", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1848, "dataset_name": "TASK02_A210041B900443_20260723_052010", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052010_to_lerobot", "start_time": "2026-07-23 05:20:10", "end_time": "2026-07-23 05:20:32", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1849, "dataset_name": "TASK02_A210041B900443_20260723_052056", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052056_to_lerobot", "start_time": "2026-07-23 05:20:56", "end_time": "2026-07-23 05:21:14", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1850, "dataset_name": "TASK02_A210041B900443_20260723_052115", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052115_to_lerobot", "start_time": "2026-07-23 05:21:15", "end_time": "2026-07-23 05:21:34", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1851, "dataset_name": "TASK02_A210041B900443_20260723_052157", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052157_to_lerobot", "start_time": "2026-07-23 05:21:57", "end_time": "2026-07-23 05:22:18", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1852, "dataset_name": "TASK02_A210041B900443_20260723_052222", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052222_to_lerobot", "start_time": "2026-07-23 05:22:22", "end_time": "2026-07-23 05:22:44", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1853, "dataset_name": "TASK02_A210041B900443_20260723_052248", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052248_to_lerobot", "start_time": "2026-07-23 05:22:48", "end_time": "2026-07-23 05:23:07", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1854, "dataset_name": "TASK02_A210041B900443_20260723_052314", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052314_to_lerobot", "start_time": "2026-07-23 05:23:14", "end_time": "2026-07-23 05:23:38", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1855, "dataset_name": "TASK02_A210041B900443_20260723_052340", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052340_to_lerobot", "start_time": "2026-07-23 05:23:40", "end_time": "2026-07-23 05:24:02", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1856, "dataset_name": "TASK02_A210041B900443_20260723_052409", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052409_to_lerobot", "start_time": "2026-07-23 05:24:09", "end_time": "2026-07-23 05:24:33", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1857, "dataset_name": "TASK02_A210041B900443_20260723_052435", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052435_to_lerobot", "start_time": "2026-07-23 05:24:35", "end_time": "2026-07-23 05:24:55", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1858, "dataset_name": "TASK02_A210041B900443_20260723_052458", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052458_to_lerobot", "start_time": "2026-07-23 05:24:58", "end_time": "2026-07-23 05:25:21", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1859, "dataset_name": "TASK02_A210041B900443_20260723_052527", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052527_to_lerobot", "start_time": "2026-07-23 05:25:27", "end_time": "2026-07-23 05:25:53", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1860, "dataset_name": "TASK02_A210041B900443_20260723_052555", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052555_to_lerobot", "start_time": "2026-07-23 05:25:55", "end_time": "2026-07-23 05:26:16", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1861, "dataset_name": "TASK02_A210041B900443_20260723_052618", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052618_to_lerobot", "start_time": "2026-07-23 05:26:18", "end_time": "2026-07-23 05:26:45", "duration": 27, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1862, "dataset_name": "TASK02_A210041B900443_20260723_052648", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052648_to_lerobot", "start_time": "2026-07-23 05:26:48", "end_time": "2026-07-23 05:27:10", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1863, "dataset_name": "TASK02_A210041B900443_20260723_052714", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052714_to_lerobot", "start_time": "2026-07-23 05:27:14", "end_time": "2026-07-23 05:27:35", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1864, "dataset_name": "TASK02_A210041B900443_20260723_052738", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052738_to_lerobot", "start_time": "2026-07-23 05:27:38", "end_time": "2026-07-23 05:28:05", "duration": 27, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1865, "dataset_name": "TASK02_A210041B900443_20260723_052808", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052808_to_lerobot", "start_time": "2026-07-23 05:28:08", "end_time": "2026-07-23 05:28:32", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1866, "dataset_name": "TASK02_A210041B900443_20260723_052835", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052835_to_lerobot", "start_time": "2026-07-23 05:28:35", "end_time": "2026-07-23 05:28:56", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1867, "dataset_name": "TASK02_A210041B900443_20260723_052859", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052859_to_lerobot", "start_time": "2026-07-23 05:28:59", "end_time": "2026-07-23 05:29:22", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1868, "dataset_name": "TASK02_A210041B900443_20260723_052924", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052924_to_lerobot", "start_time": "2026-07-23 05:29:24", "end_time": "2026-07-23 05:29:50", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1869, "dataset_name": "TASK02_A210041B900443_20260723_052953", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_052953_to_lerobot", "start_time": "2026-07-23 05:29:53", "end_time": "2026-07-23 05:30:19", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1870, "dataset_name": "TASK02_A210041B900443_20260723_053025", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_053025_to_lerobot", "start_time": "2026-07-23 05:30:25", "end_time": "2026-07-23 05:30:49", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1871, "dataset_name": "TASK02_A210041B900443_20260723_053053", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_053053_to_lerobot", "start_time": "2026-07-23 05:30:53", "end_time": "2026-07-23 05:31:15", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1872, "dataset_name": "TASK02_A210041B900443_20260723_053120", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_053120_to_lerobot", "start_time": "2026-07-23 05:31:20", "end_time": "2026-07-23 05:31:42", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1874, "dataset_name": "TASK02_A210041B900443_20260723_054223", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_054223_to_lerobot", "start_time": "2026-07-23 05:42:23", "end_time": "2026-07-23 05:42:45", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1876, "dataset_name": "TASK02_A210041B900443_20260723_054306", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_054306_to_lerobot", "start_time": "2026-07-23 05:43:06", "end_time": "2026-07-23 05:43:33", "duration": 27, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1877, "dataset_name": "TASK02_A210041B900443_20260723_054336", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_054336_to_lerobot", "start_time": "2026-07-23 05:43:36", "end_time": "2026-07-23 05:44:06", "duration": 30, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1878, "dataset_name": "TASK02_A210041B900443_20260723_054411", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_054411_to_lerobot", "start_time": "2026-07-23 05:44:11", "end_time": "2026-07-23 05:44:34", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1879, "dataset_name": "TASK02_A210041B900443_20260723_054436", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_054436_to_lerobot", "start_time": "2026-07-23 05:44:36", "end_time": "2026-07-23 05:45:01", "duration": 25, "n_cameras": 0, "cameras": []}
+{"history_id": 1882, "dataset_name": "TASK02_A210041B900443_20260723_060254", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060254_to_lerobot", "start_time": "2026-07-23 06:02:54", "end_time": "2026-07-23 06:03:21", "duration": 27, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1883, "dataset_name": "TASK02_A210041B900443_20260723_060324", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060324_to_lerobot", "start_time": "2026-07-23 06:03:24", "end_time": "2026-07-23 06:03:45", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1884, "dataset_name": "TASK02_A210041B900443_20260723_060346", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060346_to_lerobot", "start_time": "2026-07-23 06:03:46", "end_time": "2026-07-23 06:04:12", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1885, "dataset_name": "TASK02_A210041B900443_20260723_060425", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060425_to_lerobot", "start_time": "2026-07-23 06:04:25", "end_time": "2026-07-23 06:04:45", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1886, "dataset_name": "TASK02_A210041B900443_20260723_060447", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060447_to_lerobot", "start_time": "2026-07-23 06:04:47", "end_time": "2026-07-23 06:05:08", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1887, "dataset_name": "TASK02_A210041B900443_20260723_060511", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060511_to_lerobot", "start_time": "2026-07-23 06:05:11", "end_time": "2026-07-23 06:05:33", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1888, "dataset_name": "TASK02_A210041B900443_20260723_060536", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060536_to_lerobot", "start_time": "2026-07-23 06:05:36", "end_time": "2026-07-23 06:06:04", "duration": 28, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1889, "dataset_name": "TASK02_A210041B900443_20260723_060607", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060607_to_lerobot", "start_time": "2026-07-23 06:06:07", "end_time": "2026-07-23 06:06:26", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1890, "dataset_name": "TASK02_A210041B900443_20260723_060630", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060630_to_lerobot", "start_time": "2026-07-23 06:06:30", "end_time": "2026-07-23 06:06:54", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1891, "dataset_name": "TASK02_A210041B900443_20260723_060700", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060700_to_lerobot", "start_time": "2026-07-23 06:07:00", "end_time": "2026-07-23 06:07:23", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1892, "dataset_name": "TASK02_A210041B900443_20260723_060739", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060739_to_lerobot", "start_time": "2026-07-23 06:07:39", "end_time": "2026-07-23 06:08:02", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1893, "dataset_name": "TASK02_A210041B900443_20260723_060807", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060807_to_lerobot", "start_time": "2026-07-23 06:08:07", "end_time": "2026-07-23 06:08:27", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1895, "dataset_name": "TASK02_A210041B900443_20260723_060935", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060935_to_lerobot", "start_time": "2026-07-23 06:09:35", "end_time": "2026-07-23 06:09:57", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1896, "dataset_name": "TASK02_A210041B900443_20260723_060959", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_060959_to_lerobot", "start_time": "2026-07-23 06:09:59", "end_time": "2026-07-23 06:10:20", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1897, "dataset_name": "TASK02_A210041B900443_20260723_061022", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061022_to_lerobot", "start_time": "2026-07-23 06:10:22", "end_time": "2026-07-23 06:10:47", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1899, "dataset_name": "TASK02_A210041B900443_20260723_061110", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061110_to_lerobot", "start_time": "2026-07-23 06:11:10", "end_time": "2026-07-23 06:11:35", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1900, "dataset_name": "TASK02_A210041B900443_20260723_061140", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061140_to_lerobot", "start_time": "2026-07-23 06:11:40", "end_time": "2026-07-23 06:11:59", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1901, "dataset_name": "TASK02_A210041B900443_20260723_061203", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061203_to_lerobot", "start_time": "2026-07-23 06:12:03", "end_time": "2026-07-23 06:12:26", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1902, "dataset_name": "TASK02_A210041B900443_20260723_061233", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061233_to_lerobot", "start_time": "2026-07-23 06:12:33", "end_time": "2026-07-23 06:12:56", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1903, "dataset_name": "TASK02_A210041B900443_20260723_061259", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061259_to_lerobot", "start_time": "2026-07-23 06:12:59", "end_time": "2026-07-23 06:13:19", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1904, "dataset_name": "TASK02_A210041B900443_20260723_061324", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061324_to_lerobot", "start_time": "2026-07-23 06:13:24", "end_time": "2026-07-23 06:13:47", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1905, "dataset_name": "TASK02_A210041B900443_20260723_061621", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061621_to_lerobot", "start_time": "2026-07-23 06:16:21", "end_time": "2026-07-23 06:16:38", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1906, "dataset_name": "TASK02_A210041B900443_20260723_061639", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061639_to_lerobot", "start_time": "2026-07-23 06:16:39", "end_time": "2026-07-23 06:17:01", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1907, "dataset_name": "TASK02_A210041B900443_20260723_061703", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061703_to_lerobot", "start_time": "2026-07-23 06:17:03", "end_time": "2026-07-23 06:17:20", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1908, "dataset_name": "TASK02_A210041B900443_20260723_061724", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061724_to_lerobot", "start_time": "2026-07-23 06:17:24", "end_time": "2026-07-23 06:17:42", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1909, "dataset_name": "TASK02_A210041B900443_20260723_061745", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061745_to_lerobot", "start_time": "2026-07-23 06:17:45", "end_time": "2026-07-23 06:18:08", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1910, "dataset_name": "TASK02_A210041B900443_20260723_061820", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061820_to_lerobot", "start_time": "2026-07-23 06:18:20", "end_time": "2026-07-23 06:18:38", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1911, "dataset_name": "TASK02_A210041B900443_20260723_061841", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061841_to_lerobot", "start_time": "2026-07-23 06:18:41", "end_time": "2026-07-23 06:19:02", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1912, "dataset_name": "TASK02_A210041B900443_20260723_061904", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061904_to_lerobot", "start_time": "2026-07-23 06:19:04", "end_time": "2026-07-23 06:19:26", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1913, "dataset_name": "TASK02_A210041B900443_20260723_061942", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_061942_to_lerobot", "start_time": "2026-07-23 06:19:42", "end_time": "2026-07-23 06:19:59", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1914, "dataset_name": "TASK02_A210041B900443_20260723_062005", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062005_to_lerobot", "start_time": "2026-07-23 06:20:05", "end_time": "2026-07-23 06:20:30", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1915, "dataset_name": "TASK02_A210041B900443_20260723_062045", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062045_to_lerobot", "start_time": "2026-07-23 06:20:45", "end_time": "2026-07-23 06:21:04", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1916, "dataset_name": "TASK02_A210041B900443_20260723_062112", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062112_to_lerobot", "start_time": "2026-07-23 06:21:12", "end_time": "2026-07-23 06:21:33", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1917, "dataset_name": "TASK02_A210041B900443_20260723_062322", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062322_to_lerobot", "start_time": "2026-07-23 06:23:22", "end_time": "2026-07-23 06:23:41", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1918, "dataset_name": "TASK02_A210041B900443_20260723_062345", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062345_to_lerobot", "start_time": "2026-07-23 06:23:45", "end_time": "2026-07-23 06:24:03", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1919, "dataset_name": "TASK02_A210041B900443_20260723_062406", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062406_to_lerobot", "start_time": "2026-07-23 06:24:06", "end_time": "2026-07-23 06:24:24", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1920, "dataset_name": "TASK02_A210041B900443_20260723_062428", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062428_to_lerobot", "start_time": "2026-07-23 06:24:28", "end_time": "2026-07-23 06:24:47", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1921, "dataset_name": "TASK02_A210041B900443_20260723_062449", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062449_to_lerobot", "start_time": "2026-07-23 06:24:49", "end_time": "2026-07-23 06:25:08", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1922, "dataset_name": "TASK02_A210041B900443_20260723_062510", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062510_to_lerobot", "start_time": "2026-07-23 06:25:10", "end_time": "2026-07-23 06:25:28", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1923, "dataset_name": "TASK02_A210041B900443_20260723_062534", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062534_to_lerobot", "start_time": "2026-07-23 06:25:34", "end_time": "2026-07-23 06:25:53", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1924, "dataset_name": "TASK02_A210041B900443_20260723_062618", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062618_to_lerobot", "start_time": "2026-07-23 06:26:18", "end_time": "2026-07-23 06:26:35", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1925, "dataset_name": "TASK02_A210041B900443_20260723_062638", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062638_to_lerobot", "start_time": "2026-07-23 06:26:38", "end_time": "2026-07-23 06:26:58", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1926, "dataset_name": "TASK02_A210041B900443_20260723_062702", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062702_to_lerobot", "start_time": "2026-07-23 06:27:02", "end_time": "2026-07-23 06:27:26", "duration": 24, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1927, "dataset_name": "TASK02_A210041B900443_20260723_062731", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062731_to_lerobot", "start_time": "2026-07-23 06:27:31", "end_time": "2026-07-23 06:27:51", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1928, "dataset_name": "TASK02_A210041B900443_20260723_062755", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062755_to_lerobot", "start_time": "2026-07-23 06:27:55", "end_time": "2026-07-23 06:28:18", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1929, "dataset_name": "TASK02_A210041B900443_20260723_062821", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062821_to_lerobot", "start_time": "2026-07-23 06:28:21", "end_time": "2026-07-23 06:28:38", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1930, "dataset_name": "TASK02_A210041B900443_20260723_062842", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062842_to_lerobot", "start_time": "2026-07-23 06:28:42", "end_time": "2026-07-23 06:28:58", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1931, "dataset_name": "TASK02_A210041B900443_20260723_062900", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062900_to_lerobot", "start_time": "2026-07-23 06:29:00", "end_time": "2026-07-23 06:29:19", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1932, "dataset_name": "TASK02_A210041B900443_20260723_062924", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_062924_to_lerobot", "start_time": "2026-07-23 06:29:24", "end_time": "2026-07-23 06:29:43", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1933, "dataset_name": "TASK02_A210041B900443_20260723_063123", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063123_to_lerobot", "start_time": "2026-07-23 06:31:23", "end_time": "2026-07-23 06:31:43", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1934, "dataset_name": "TASK02_A210041B900443_20260723_063146", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063146_to_lerobot", "start_time": "2026-07-23 06:31:46", "end_time": "2026-07-23 06:32:06", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1935, "dataset_name": "TASK02_A210041B900443_20260723_063208", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063208_to_lerobot", "start_time": "2026-07-23 06:32:08", "end_time": "2026-07-23 06:32:24", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1939, "dataset_name": "TASK02_A210041B900443_20260723_063337", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063337_to_lerobot", "start_time": "2026-07-23 06:33:37", "end_time": "2026-07-23 06:33:57", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1940, "dataset_name": "TASK02_A210041B900443_20260723_063400", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063400_to_lerobot", "start_time": "2026-07-23 06:34:00", "end_time": "2026-07-23 06:34:26", "duration": 26, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1941, "dataset_name": "TASK02_A210041B900443_20260723_063430", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063430_to_lerobot", "start_time": "2026-07-23 06:34:30", "end_time": "2026-07-23 06:34:50", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1944, "dataset_name": "TASK02_A210041B900443_20260723_063737", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063737_to_lerobot", "start_time": "2026-07-23 06:37:37", "end_time": "2026-07-23 06:37:55", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1945, "dataset_name": "TASK02_A210041B900443_20260723_063756", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063756_to_lerobot", "start_time": "2026-07-23 06:37:56", "end_time": "2026-07-23 06:38:14", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1946, "dataset_name": "TASK02_A210041B900443_20260723_063816", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063816_to_lerobot", "start_time": "2026-07-23 06:38:16", "end_time": "2026-07-23 06:38:35", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1947, "dataset_name": "TASK02_A210041B900443_20260723_063836", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_063836_to_lerobot", "start_time": "2026-07-23 06:38:36", "end_time": "2026-07-23 06:38:59", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1948, "dataset_name": "TASK02_A210041B900443_20260723_064033", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064033_to_lerobot", "start_time": "2026-07-23 06:40:33", "end_time": "2026-07-23 06:40:53", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1949, "dataset_name": "TASK02_A210041B900443_20260723_064056", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064056_to_lerobot", "start_time": "2026-07-23 06:40:56", "end_time": "2026-07-23 06:41:14", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1950, "dataset_name": "TASK02_A210041B900443_20260723_064116", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064116_to_lerobot", "start_time": "2026-07-23 06:41:16", "end_time": "2026-07-23 06:41:36", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1951, "dataset_name": "TASK02_A210041B900443_20260723_064138", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064138_to_lerobot", "start_time": "2026-07-23 06:41:38", "end_time": "2026-07-23 06:41:55", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1952, "dataset_name": "TASK02_A210041B900443_20260723_064200", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064200_to_lerobot", "start_time": "2026-07-23 06:42:00", "end_time": "2026-07-23 06:42:20", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1953, "dataset_name": "TASK02_A210041B900443_20260723_064225", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064225_to_lerobot", "start_time": "2026-07-23 06:42:25", "end_time": "2026-07-23 06:42:43", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1954, "dataset_name": "TASK02_A210041B900443_20260723_064341", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064341_to_lerobot", "start_time": "2026-07-23 06:43:41", "end_time": "2026-07-23 06:44:01", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1955, "dataset_name": "TASK02_A210041B900443_20260723_064632", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064632_to_lerobot", "start_time": "2026-07-23 06:46:32", "end_time": "2026-07-23 06:46:51", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1956, "dataset_name": "TASK02_A210041B900443_20260723_064652", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064652_to_lerobot", "start_time": "2026-07-23 06:46:52", "end_time": "2026-07-23 06:47:11", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1957, "dataset_name": "TASK02_A210041B900443_20260723_064712", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064712_to_lerobot", "start_time": "2026-07-23 06:47:12", "end_time": "2026-07-23 06:47:28", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1958, "dataset_name": "TASK02_A210041B900443_20260723_064731", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064731_to_lerobot", "start_time": "2026-07-23 06:47:31", "end_time": "2026-07-23 06:47:51", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1959, "dataset_name": "TASK02_A210041B900443_20260723_064754", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_064754_to_lerobot", "start_time": "2026-07-23 06:47:54", "end_time": "2026-07-23 06:48:10", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1960, "dataset_name": "TASK02_A210041B900443_20260723_065918", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_065918_to_lerobot", "start_time": "2026-07-23 06:59:18", "end_time": "2026-07-23 06:59:34", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1961, "dataset_name": "TASK02_A210041B900443_20260723_065955", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_065955_to_lerobot", "start_time": "2026-07-23 06:59:55", "end_time": "2026-07-23 07:00:18", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1962, "dataset_name": "TASK02_A210041B900443_20260723_070020", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070020_to_lerobot", "start_time": "2026-07-23 07:00:20", "end_time": "2026-07-23 07:00:40", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1963, "dataset_name": "TASK02_A210041B900443_20260723_070045", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070045_to_lerobot", "start_time": "2026-07-23 07:00:45", "end_time": "2026-07-23 07:01:08", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1964, "dataset_name": "TASK02_A210041B900443_20260723_070111", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070111_to_lerobot", "start_time": "2026-07-23 07:01:11", "end_time": "2026-07-23 07:01:29", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1965, "dataset_name": "TASK02_A210041B900443_20260723_070133", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070133_to_lerobot", "start_time": "2026-07-23 07:01:33", "end_time": "2026-07-23 07:01:55", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1966, "dataset_name": "TASK02_A210041B900443_20260723_070158", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070158_to_lerobot", "start_time": "2026-07-23 07:01:58", "end_time": "2026-07-23 07:02:38", "duration": 40, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1967, "dataset_name": "TASK02_A210041B900443_20260723_070415", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070415_to_lerobot", "start_time": "2026-07-23 07:04:15", "end_time": "2026-07-23 07:04:37", "duration": 22, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1968, "dataset_name": "TASK02_A210041B900443_20260723_070600", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070600_to_lerobot", "start_time": "2026-07-23 07:06:00", "end_time": "2026-07-23 07:06:19", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1969, "dataset_name": "TASK02_A210041B900443_20260723_070621", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070621_to_lerobot", "start_time": "2026-07-23 07:06:21", "end_time": "2026-07-23 07:06:40", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1970, "dataset_name": "TASK02_A210041B900443_20260723_070641", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070641_to_lerobot", "start_time": "2026-07-23 07:06:41", "end_time": "2026-07-23 07:06:59", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1971, "dataset_name": "TASK02_A210041B900443_20260723_070820", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070820_to_lerobot", "start_time": "2026-07-23 07:08:20", "end_time": "2026-07-23 07:08:40", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1972, "dataset_name": "TASK02_A210041B900443_20260723_070842", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070842_to_lerobot", "start_time": "2026-07-23 07:08:42", "end_time": "2026-07-23 07:09:03", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1973, "dataset_name": "TASK02_A210041B900443_20260723_070904", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070904_to_lerobot", "start_time": "2026-07-23 07:09:04", "end_time": "2026-07-23 07:09:24", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1974, "dataset_name": "TASK02_A210041B900443_20260723_070928", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070928_to_lerobot", "start_time": "2026-07-23 07:09:28", "end_time": "2026-07-23 07:09:45", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1975, "dataset_name": "TASK02_A210041B900443_20260723_070948", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_070948_to_lerobot", "start_time": "2026-07-23 07:09:48", "end_time": "2026-07-23 07:10:09", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1976, "dataset_name": "TASK02_A210041B900443_20260723_071132", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071132_to_lerobot", "start_time": "2026-07-23 07:11:32", "end_time": "2026-07-23 07:12:00", "duration": 28, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1977, "dataset_name": "TASK02_A210041B900443_20260723_071202", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071202_to_lerobot", "start_time": "2026-07-23 07:12:02", "end_time": "2026-07-23 07:12:23", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1978, "dataset_name": "TASK02_A210041B900443_20260723_071225", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071225_to_lerobot", "start_time": "2026-07-23 07:12:25", "end_time": "2026-07-23 07:12:44", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1979, "dataset_name": "TASK02_A210041B900443_20260723_071247", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071247_to_lerobot", "start_time": "2026-07-23 07:12:47", "end_time": "2026-07-23 07:13:07", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1980, "dataset_name": "TASK02_A210041B900443_20260723_071310", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071310_to_lerobot", "start_time": "2026-07-23 07:13:10", "end_time": "2026-07-23 07:13:27", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1981, "dataset_name": "TASK02_A210041B900443_20260723_071329", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071329_to_lerobot", "start_time": "2026-07-23 07:13:29", "end_time": "2026-07-23 07:13:48", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1982, "dataset_name": "TASK02_A210041B900443_20260723_071457", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071457_to_lerobot", "start_time": "2026-07-23 07:14:57", "end_time": "2026-07-23 07:15:20", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1983, "dataset_name": "TASK02_A210041B900443_20260723_071522", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071522_to_lerobot", "start_time": "2026-07-23 07:15:22", "end_time": "2026-07-23 07:16:01", "duration": 39, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1984, "dataset_name": "TASK02_A210041B900443_20260723_071615", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071615_to_lerobot", "start_time": "2026-07-23 07:16:15", "end_time": "2026-07-23 07:16:32", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1985, "dataset_name": "TASK02_A210041B900443_20260723_071839", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071839_to_lerobot", "start_time": "2026-07-23 07:18:39", "end_time": "2026-07-23 07:19:02", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1986, "dataset_name": "TASK02_A210041B900443_20260723_071903", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071903_to_lerobot", "start_time": "2026-07-23 07:19:03", "end_time": "2026-07-23 07:19:26", "duration": 23, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1987, "dataset_name": "TASK02_A210041B900443_20260723_071929", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071929_to_lerobot", "start_time": "2026-07-23 07:19:29", "end_time": "2026-07-23 07:19:47", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1988, "dataset_name": "TASK02_A210041B900443_20260723_071951", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_071951_to_lerobot", "start_time": "2026-07-23 07:19:51", "end_time": "2026-07-23 07:20:10", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1989, "dataset_name": "TASK02_A210041B900443_20260723_072013", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072013_to_lerobot", "start_time": "2026-07-23 07:20:13", "end_time": "2026-07-23 07:20:33", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1990, "dataset_name": "TASK02_A210041B900443_20260723_072036", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072036_to_lerobot", "start_time": "2026-07-23 07:20:36", "end_time": "2026-07-23 07:20:52", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1991, "dataset_name": "TASK02_A210041B900443_20260723_072055", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072055_to_lerobot", "start_time": "2026-07-23 07:20:55", "end_time": "2026-07-23 07:21:15", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1992, "dataset_name": "TASK02_A210041B900443_20260723_072117", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072117_to_lerobot", "start_time": "2026-07-23 07:21:17", "end_time": "2026-07-23 07:21:36", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1993, "dataset_name": "TASK02_A210041B900443_20260723_072138", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072138_to_lerobot", "start_time": "2026-07-23 07:21:38", "end_time": "2026-07-23 07:21:59", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1994, "dataset_name": "TASK02_A210041B900443_20260723_072501", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072501_to_lerobot", "start_time": "2026-07-23 07:25:01", "end_time": "2026-07-23 07:25:26", "duration": 25, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1995, "dataset_name": "TASK02_A210041B900443_20260723_072529", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072529_to_lerobot", "start_time": "2026-07-23 07:25:29", "end_time": "2026-07-23 07:25:50", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1996, "dataset_name": "TASK02_A210041B900443_20260723_072552", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072552_to_lerobot", "start_time": "2026-07-23 07:25:52", "end_time": "2026-07-23 07:26:13", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 1998, "dataset_name": "TASK02_A210041B900443_20260723_072648", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_072648_to_lerobot", "start_time": "2026-07-23 07:26:48", "end_time": "2026-07-23 07:27:08", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2008, "dataset_name": "TASK02_A210041B900443_20260723_081043", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081043_to_lerobot", "start_time": "2026-07-23 08:10:43", "end_time": "2026-07-23 08:11:04", "duration": 21, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2009, "dataset_name": "TASK02_A210041B900443_20260723_081154", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081154_to_lerobot", "start_time": "2026-07-23 08:11:54", "end_time": "2026-07-23 08:12:11", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2010, "dataset_name": "TASK02_A210041B900443_20260723_081213", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081213_to_lerobot", "start_time": "2026-07-23 08:12:13", "end_time": "2026-07-23 08:12:29", "duration": 16, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2011, "dataset_name": "TASK02_A210041B900443_20260723_081232", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081232_to_lerobot", "start_time": "2026-07-23 08:12:32", "end_time": "2026-07-23 08:12:51", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2013, "dataset_name": "TASK02_A210041B900443_20260723_081515", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081515_to_lerobot", "start_time": "2026-07-23 08:15:15", "end_time": "2026-07-23 08:15:33", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2014, "dataset_name": "TASK02_A210041B900443_20260723_081543", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081543_to_lerobot", "start_time": "2026-07-23 08:15:43", "end_time": "2026-07-23 08:16:03", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2015, "dataset_name": "TASK02_A210041B900443_20260723_081609", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081609_to_lerobot", "start_time": "2026-07-23 08:16:09", "end_time": "2026-07-23 08:16:28", "duration": 19, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2016, "dataset_name": "TASK02_A210041B900443_20260723_081631", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081631_to_lerobot", "start_time": "2026-07-23 08:16:31", "end_time": "2026-07-23 08:16:48", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2017, "dataset_name": "TASK02_A210041B900443_20260723_081651", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081651_to_lerobot", "start_time": "2026-07-23 08:16:51", "end_time": "2026-07-23 08:17:08", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2018, "dataset_name": "TASK02_A210041B900443_20260723_081711", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081711_to_lerobot", "start_time": "2026-07-23 08:17:11", "end_time": "2026-07-23 08:17:29", "duration": 18, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2019, "dataset_name": "TASK02_A210041B900443_20260723_081731", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081731_to_lerobot", "start_time": "2026-07-23 08:17:31", "end_time": "2026-07-23 08:17:48", "duration": 17, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
+{"history_id": 2020, "dataset_name": "TASK02_A210041B900443_20260723_081757", "task_index": 2, "category": "handover", "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "task_success": true, "source": "/agibot/mcap_data_frames/teleop_20260723_081757_to_lerobot", "start_time": "2026-07-23 08:17:57", "end_time": "2026-07-23 08:18:17", "duration": 20, "n_cameras": 5, "cameras": ["observation.images.hand_left_color", "observation.images.hand_left_depth", "observation.images.hand_right_color", "observation.images.head_front_color", "observation.images.head_front_depth"]}
diff --git a/README.txt b/README.txt
new file mode 100644
index 0000000000000000000000000000000000000000..255b7410827bca35299bfc8e1e39083c354060f5
--- /dev/null
+++ b/README.txt
@@ -0,0 +1,15 @@
+LeRobot
+======================================
+Count: 200 packs
+Robot SN: 10041B900443
+
+Cloud folder names:
+  TASK01_A210041B900443_YYYYMMDD_HHMMSS  = place in tray (index 1)
+  TASK02_A210041B900443_YYYYMMDD_HHMMSS  = handover (index 2)
+
+This export:
+  200 x TASK02 (handover)
+
+Each folder:
+  data/  meta/ (incl. task_info.json)  videos/
+
diff --git a/TASK02_A210041B900443_20260723_045147/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045147/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6973cb04ae5a452d992d8dd6b9e343b749d1b9dd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f0266585f779e64d4df1458938e6d100097cd6ea67dd102ae95532388ecffe
+size 228457
diff --git a/TASK02_A210041B900443_20260723_045147/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045147/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52c0762e17016cc355632ec3d7b434084fbce32f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 444, "chunk_index": 0, "length": 445}
diff --git a/TASK02_A210041B900443_20260723_045147/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045147/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..234bd81e5950c3461a5e1bbfa370386f9f9bcf89
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 444, "num_frames": 445, "num_steps": 444, "num_samples": 445, "duration_s": 14.816386461257935, "fps": 30.03431377573684, "start_timestamp": 0.0, "end_timestamp": 14.816386461257935, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045147/meta/info.json b/TASK02_A210041B900443_20260723_045147/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e200d8ce6d1e10d8b971b42e9992709b216f37ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 445,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045147/meta/task_info.json b/TASK02_A210041B900443_20260723_045147/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..549cb453d3753e9b83314e35847f39b3752de680
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1798",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:02.468719",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045147/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045147/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3af7eee659899ac9ec6d11d97b10ed66606e5dae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f60f1da2ca27eef92b45a9feb77919f0f9c76f77a5385b03d32f711101649b5
+size 6669437
diff --git a/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33291a03299e8ddd84a5ae9ce411153b0fec86b5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227db1722270ca68c10b882653cfc8c3f57e66c1033adce4183ca0c9362b08da
+size 3323964
diff --git a/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..758113fd5ee704fcde2d01805f0e10d46fbba1cf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62eed23ec87054c2faf4028961f108483462b5e1fb1821ecd78b252316e71541
+size 9738891
diff --git a/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df469961ba4b8f35ff74cc71f613254ad93091f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca81ed12ffc2823e6f7f07a6ce7eb03a05ec3ce9864d8290e18fe3f0b95ab58e
+size 11861273
diff --git a/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..474f0b36c6f2f0cb1930e1a521ab9337b7107028
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045147/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bb20916d5564ae9171ac7610dbacde905151f974925e5c57d675f2c6fda78a7
+size 750250
diff --git a/TASK02_A210041B900443_20260723_045205/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045205/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6461d4ced2ef608dc03342ea99189ec9534d8f49
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7467a70346fadcbc9dd2c35598047ad4ab2ce3d893e9e075705fcd48f0ac2a
+size 280451
diff --git a/TASK02_A210041B900443_20260723_045205/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045205/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f00e7427eadd969b6a10098ef948428f70f5aee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 547, "chunk_index": 0, "length": 548}
diff --git a/TASK02_A210041B900443_20260723_045205/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045205/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c639b8b9905eb6db82fe19b7176e523e51338f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 547, "num_frames": 548, "num_steps": 547, "num_samples": 548, "duration_s": 18.25705862045288, "fps": 30.015787942209414, "start_timestamp": 0.0, "end_timestamp": 18.25705862045288, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045205/meta/info.json b/TASK02_A210041B900443_20260723_045205/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96dba4b8d28734fa8c5d3bf292bf47e4fcfb3250
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 548,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045205/meta/task_info.json b/TASK02_A210041B900443_20260723_045205/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b916bc9fcb3a339ca17ad49dd3568b26c1fc4bf1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1799",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:02.266872",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045205/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045205/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f633200fbf8f75b0ee3fac59e06362359fce657
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ecded035acd86ce3de8891caae46b2495d3ddce246b8541108db2a8b001f5c
+size 8473977
diff --git a/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed73123b260b6466b748c80c9dabc789dfe7400c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3e7389927a5ac9c8313aeca9054f0e3d6b06ba4200d5a25cd7032dcc0411e2
+size 3543852
diff --git a/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0895ad70b89c1fa4ab1448051a73b0b18af69fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9aa216bbadd92703780ceccf9fe25e4209d90f63f80e008cf3147b5048096ab
+size 11387386
diff --git a/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15414cc3504aacd3041d10d612707a9d397dfc2e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e189da99022f7acda0bfed8c7e6b9b9decdfad0f58f06efdeb87643ef1cd84
+size 14269903
diff --git a/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58d79dc4d109a2c82cdebd208b016f1e78c75799
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045205/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5a3dd094935797e167afd1c1704dff2bbc353bf1909ff731034e53db9cef4a
+size 908352
diff --git a/TASK02_A210041B900443_20260723_045256/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045256/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4ee316b66624cb06de4fe6e554e86341a8767dbc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cbb2864d40d9f7587fbfdaf6ff4715a214e92299aa3d51102e93912cb08b40
+size 362815
diff --git a/TASK02_A210041B900443_20260723_045256/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045256/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b93e479011b4d138cec83d20e1040ba5c80f8e4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 688, "chunk_index": 0, "length": 689}
diff --git a/TASK02_A210041B900443_20260723_045256/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045256/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b5d0a7537774455a693a9f3cc3be7fe53f446110
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 688, "num_frames": 689, "num_steps": 688, "num_samples": 689, "duration_s": 22.962907791137695, "fps": 30.004910800796434, "start_timestamp": 0.0, "end_timestamp": 22.962907791137695, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045256/meta/info.json b/TASK02_A210041B900443_20260723_045256/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5de51e49040e7ab9ac2beff892fec104226682
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 689,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045256/meta/task_info.json b/TASK02_A210041B900443_20260723_045256/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3973be713e2cd9701bce06c81aae16a14b610096
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1800",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:02.056104",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045256/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045256/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3fce6886c9b70746ae3984e07a2ad9688195bc3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243bf185108ad0895fe7bd20c5a740049add9a7c8b437135ee26b02e2c17624e
+size 11678984
diff --git a/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3007a2fb98184292c05fd015b4575cd996aecd0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0268034a154a4e3b9a354988215e6755a5388294312899769b04f7f2b43b6312
+size 3888725
diff --git a/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63dc6108d318557ff675d8c3b8e0bd21e343b729
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253959a87aab9c4873fd6af9a02a18843074b7f7ac9ba8acf334fb1ca5d52384
+size 17207110
diff --git a/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65ad34b50f03c34564f941b295114f528553c4e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331eb0a37703b0cbb849fb76b90e5181944c56d779b16607f4a96eeb4fae5f5a
+size 18164581
diff --git a/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bbc77b5fee373c8d661dfceb4f63e05ce41fb02
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045256/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb45672b195fa07fb56748056b7bafb941f2d5e3213a110b09c000dfab75e72
+size 1004311
diff --git a/TASK02_A210041B900443_20260723_045341/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045341/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b1fbbe5f53922f7289cc4b0532838bc6174a8477
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcecc75e679d52621514dc8e37b26b1abd21b72046915368c1cce43c8a921699
+size 248059
diff --git a/TASK02_A210041B900443_20260723_045341/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045341/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..573eeaf4c8aa9413ddedfee8df8fdb870a0694ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 485, "chunk_index": 0, "length": 486}
diff --git a/TASK02_A210041B900443_20260723_045341/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045341/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..baeaeb7036897024c96176083824611871f5e6d2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 485, "num_frames": 486, "num_steps": 485, "num_samples": 486, "duration_s": 16.183147430419922, "fps": 30.031240961597618, "start_timestamp": 0.0, "end_timestamp": 16.183147430419922, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045341/meta/info.json b/TASK02_A210041B900443_20260723_045341/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..314fcd4e5805622efdfb17d00460a0a7487cd88f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 486,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045341/meta/task_info.json b/TASK02_A210041B900443_20260723_045341/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2188b75c0b90a8e0c653ea5172a3be02f18f720
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1801",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:01.752620",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045341/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045341/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb42092f2566af599b10efd4361e7c5b357fb383
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:217114d392902d94cbfcbd887e0e9477c1ab74aaefdb2e5b3e919529fdd41ca7
+size 7547983
diff --git a/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2eefcbc4a5bcc14cef899d53ec438e03736dbcd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9cf0971d47a5a1e1fa9a83b8394bb1bd4e193f5927db76f00d96b9c600129fb
+size 3763231
diff --git a/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f545a951f055eee3389787d1bbfd5ad9beb21547
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3c650d7e06165f8a7e9ff188d9b9e2fa1322c2920f2220bb677840e09f01ee
+size 10571915
diff --git a/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4548fb75015cc157c16e09cebcd5ca20b673974e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbf2f34b533d750fc8ecb3f8ac63314a1788fb8fd62e9723453990a98653eff
+size 13047088
diff --git a/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d21c4cf790a82a37b944aff626041ca6e81c6ab7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22af52307f57c2628fc7def5199271dc36b0dcbd14d3665b86597ab83ac8afe7
+size 883154
diff --git a/TASK02_A210041B900443_20260723_045401/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045401/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6da827f79631314cd71fa8cef96582f846164fe9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a201ffabe4a6af354424c8971c957500886176c398762937c7274c0418d7bddb
+size 337788
diff --git a/TASK02_A210041B900443_20260723_045401/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045401/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4d6b17e684e5b494f50697dd35db48ce26d4ecd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 675, "chunk_index": 0, "length": 676}
diff --git a/TASK02_A210041B900443_20260723_045401/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045401/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4813db11cb28b3cbd9b6c68fb439e54b8c9a117c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 675, "num_frames": 676, "num_steps": 675, "num_samples": 676, "duration_s": 22.531930208206177, "fps": 30.00186818232729, "start_timestamp": 0.0, "end_timestamp": 22.531930208206177, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045401/meta/info.json b/TASK02_A210041B900443_20260723_045401/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..16dd9f0e2ca04dbe559730603f5ad269e216054d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 676,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045401/meta/task_info.json b/TASK02_A210041B900443_20260723_045401/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..43bb282bf9469821bc20b1df7463e05d68e00c29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1802",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:01.604019",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045401/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045401/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cf54bb1a73dceb755e5c9bfe44f34202ba26391
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9481c693f149d69e80ce38937559aef49fa42354cc59c7658f81c3f317ac08b7
+size 11332562
diff --git a/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4446bd594a95ee9e2c0661031c5f38a2b957ad66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce2861030ab31bc2bb5404113a6bb354bc66d0dcd319eec87b4452e5199b46b
+size 4290192
diff --git a/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed365882ed54e0efd9db2f049751f49477ab2cf2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c674ced808eb47ce9f284370d16697a1a546eb083d1feafbc32fb7c14c44e2
+size 15572166
diff --git a/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ab22984c1a2829e1eb9d12bfebbd65678b30ccf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961db5c07b22b51fe91dd6b5ce6b2c94e5a24c4e41aa3a0f422e1d8c3f14144d
+size 15206483
diff --git a/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e051c8050307f5f12f0bfbe9173d7681786a280a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045401/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee4542df8824aae41bed33331a99c076059ff2670f8e0fffec1ee40c221d81d
+size 884056
diff --git a/TASK02_A210041B900443_20260723_045426/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045426/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a76d0d6d8a18032f776e1eb5d6d25e1e30a32593
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4fbe54107e18638a48c8230251989832d67d2b4734039d2656dafd4ea7e1dd
+size 336285
diff --git a/TASK02_A210041B900443_20260723_045426/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045426/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a38b4b1345ce8706af5e8495ff1a97e192c87c01
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 641, "chunk_index": 0, "length": 642}
diff --git a/TASK02_A210041B900443_20260723_045426/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045426/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23d280f63dddefe9e0081a4387aced7e1589109d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 641, "num_frames": 642, "num_steps": 641, "num_samples": 642, "duration_s": 21.397908449172974, "fps": 30.002932367196532, "start_timestamp": 0.0, "end_timestamp": 21.397908449172974, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045426/meta/info.json b/TASK02_A210041B900443_20260723_045426/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db6246dcf30ef5a1b5be63f5f1215565a5179bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 642,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045426/meta/task_info.json b/TASK02_A210041B900443_20260723_045426/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..411dd25a64f1b8df0f73b6798e988497b80935b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1803",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:01.377496",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045426/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045426/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..402049647f82b3db1393ae5bb53774ada09589d1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d56f592075fa5899d7d7c30edba8d4edd95e2cc38e811ad3c38bccef052f027
+size 10345261
diff --git a/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86759ea02d1130a3bc56bcb0c267a978188cd4c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc75baf93007bf061b0cbbb1008cfa8abcbff116ce612235a1fcb6651a05928
+size 3709600
diff --git a/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46468a74a81ebd35553b876b377887057051b11f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eaa38ad21c5bf104fc7cc5804824a6d060466663693de03f441404121483df3
+size 14611500
diff --git a/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2d3be866c25df255243a4726ed6a9f7472dcf17
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b160d76d66a2b68e1d8dd41a511f7e070c3e2db02ab8bd93ed37ea5275244214
+size 15799299
diff --git a/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da3da255d48f017b212b6002915399683ef7e822
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045426/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f7560dea4d6c3c13c827bf66128f38b63cd8616ae5b7253b85febbf3995ce74
+size 915301
diff --git a/TASK02_A210041B900443_20260723_045451/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045451/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..723b61be3c507eee38483c55341029bc88964007
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84e03f4fb67086e98d8af897370e50833188fcf72643464c44da550111421fa
+size 317530
diff --git a/TASK02_A210041B900443_20260723_045451/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045451/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c9a98b5b160b7de27e2b78e14eba8d171c576ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 629, "chunk_index": 0, "length": 630}
diff --git a/TASK02_A210041B900443_20260723_045451/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045451/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ca27eff9bbe25ae54782cf4f152240633d72593
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 629, "num_frames": 630, "num_steps": 629, "num_samples": 630, "duration_s": 20.99683690071106, "fps": 30.004519393998102, "start_timestamp": 0.0, "end_timestamp": 20.99683690071106, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045451/meta/info.json b/TASK02_A210041B900443_20260723_045451/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3549d96dd176232474280ad641784ff55c8d1e41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 630,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045451/meta/task_info.json b/TASK02_A210041B900443_20260723_045451/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf60915943b5ba6b9d972e8ffbdedc8648337de0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1804",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:01.089610",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045451/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045451/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b80ead57d2e2673c7431f0aabf15394d2016a0f0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b17846fb923fa6be071b0e4306c5380af52d98adbc2de635e09b73b3b9a685
+size 9655221
diff --git a/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37c8a9c55359abae533b0c9a4594600b92401fe8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e38b8cd1854f8ebdf64bf54dc3b0b1822df8269ea9b10063796eea0aafe7f11
+size 5538378
diff --git a/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae25158926dfebb6db84a972f8b9868afca71ba4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d5821237353e1cab7a3e9563695770fbe2c69dbf261113a0f16cae03f670df
+size 13978734
diff --git a/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee249a0ccc3ab2dada6c40654bf5f8049c68622a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f6a6d884fbf54e4aecb4be24fcf49fef26bc9d6b3f27b3584005b770faba7a
+size 16484973
diff --git a/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cad150e8e94cb8f88970272716588f4673eff5ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045451/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921e6a1f511dadff6ce0aec8005c155eb1b903319d15a21261ae22f2cf1d0b97
+size 1066878
diff --git a/TASK02_A210041B900443_20260723_045515/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045515/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7a5d52833af6f055bfa48528349658a9fcc2aa6b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce7491af23efd43872b3891b692eaf41db06955d7d424a5d54dc430d3d1d4c1
+size 320048
diff --git a/TASK02_A210041B900443_20260723_045515/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045515/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8296c7bd5a206edb55d75e3aa7a5af91b5dc37f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 617, "chunk_index": 0, "length": 618}
diff --git a/TASK02_A210041B900443_20260723_045515/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045515/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d14fc1be99d497fa5cc649e77bf15cf72c883f5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 617, "num_frames": 618, "num_steps": 617, "num_samples": 618, "duration_s": 20.573315143585205, "fps": 30.03891184706289, "start_timestamp": 0.0, "end_timestamp": 20.573315143585205, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045515/meta/info.json b/TASK02_A210041B900443_20260723_045515/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f57ee32b818434cd97d270bf20fa5ebde68018
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 618,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045515/meta/task_info.json b/TASK02_A210041B900443_20260723_045515/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1066aa54dc596f63e0412655f9bb3d7dc8a4bf35
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1805",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:00.885991",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045515/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045515/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c75bcbfbecee3a683be5ddd12d879035e3ebfcf4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69d95c5ba8758ced5d27ccfa506e6d0a6162f80af12c90322ec11f1b217e1741
+size 10683836
diff --git a/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..499c35875d7a2f1a975a89a64a9dfef5a630f99c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce8686d7a335c6ee9def4b28251df02800381a979e0b27465d4360b4cd9cc6f
+size 3138323
diff --git a/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2aad3b64e141ae5e6af78e3f6072302cfd2820e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f25b7db51fc04335f094bef977aa0ff1d2bcbee96689132414bccb575e1680
+size 14548950
diff --git a/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce874599c9901ee012944af55df3245df0119f25
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cae73489016c5810b7ae46e36934da819336ac3ddbf8e558821564c54132146
+size 14497572
diff --git a/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9991dac1b6d459394360f451edca9fdcdd8e91a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a6c8dbe7383f05dce9209d8962dd26ed76c20a2b576c96c38512705faa03f0
+size 766118
diff --git a/TASK02_A210041B900443_20260723_045540/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045540/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..036baa762d9a50ce64bde8cd4102b9bca86c106e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523d8834661e7d7168e554169e55f65d08e5039496c8c95ac6825acda12520a4
+size 283211
diff --git a/TASK02_A210041B900443_20260723_045540/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045540/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63b3e7aaf5daec5c2a93085174733382fc77cf08
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 541, "chunk_index": 0, "length": 542}
diff --git a/TASK02_A210041B900443_20260723_045540/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045540/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ed5675e2d64da8619108f8df1232ad0bb3fb5a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 541, "num_frames": 542, "num_steps": 541, "num_samples": 542, "duration_s": 18.046590566635132, "fps": 30.033373783193127, "start_timestamp": 0.0, "end_timestamp": 18.046590566635132, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045540/meta/info.json b/TASK02_A210041B900443_20260723_045540/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4e6965e0447369f615bb63a1c10c84bad0dee1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 542,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045540/meta/task_info.json b/TASK02_A210041B900443_20260723_045540/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4a44b8ec1713990eb5efe67895e746177db900
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1806",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:00.721481",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045540/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045540/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f7b17a05c7b758d63524f871475a842bb5dadd5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a8a64c5d6dba51d61aa0a7307cb7dd3134e17be578ab25061c83312f93a67f8
+size 8488070
diff --git a/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48f8bddd94f5d696a3d98a4f147a53d00bbf7be8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8746315e10d0ad513f640a67b6ec5bea01c08ee4318200cdec578c4355359a01
+size 2982453
diff --git a/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..483a4823e0b4d29e5003989a4d71b99e6c735982
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8965ff1d476f98bad746587b7bc9b5c4d5d72ca7d4998390aa43fb1ea6476c54
+size 13016567
diff --git a/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd45bd86d15686d4a1349f75d7120e18cdfa5a2b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82835dadf9b139411cc1041381e9b5089ed847dfbf717f039998989ecd0244f0
+size 13674200
diff --git a/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..621e78b92e9493c831abe1e65e89c11c41f47769
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045540/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4090c1e0160fd5834bbdc66c38f026c5e60ac19bc0a9f4fb00d39417d6ea3b06
+size 770772
diff --git a/TASK02_A210041B900443_20260723_045603/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045603/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e2146c140c50968c25b7c124d58b17399b637f60
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1ecbba32373dfd61e23754a2490d54203d8969b8a70a0e28aa1417f2896b86
+size 329867
diff --git a/TASK02_A210041B900443_20260723_045603/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045603/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22d89aad4d22fcc02befd9cebfa416e770fa7b59
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 631, "chunk_index": 0, "length": 632}
diff --git a/TASK02_A210041B900443_20260723_045603/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045603/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3138e68649db5aac444c75e9e0ce3751322dd551
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 631, "num_frames": 632, "num_steps": 631, "num_samples": 632, "duration_s": 21.03874707221985, "fps": 30.039811678448785, "start_timestamp": 0.0, "end_timestamp": 21.03874707221985, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045603/meta/info.json b/TASK02_A210041B900443_20260723_045603/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03b348785791937955dd8de86b618114a7d8447
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 632,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045603/meta/task_info.json b/TASK02_A210041B900443_20260723_045603/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a15d82e0f3978da140c0db27531e703696ccb984
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1807",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:00.534054",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045603/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045603/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63735cc5f8bd9c8ba734264332105ef9ba606ce5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd0ed14df0b29746c51812a5e7e80690dded92332786bda604b1ef5863b4013
+size 10191468
diff --git a/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24e2e4c4a54a8eef831019cf187e12d5491b7df2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3aa79b23a788feb8283c3c27f5706a721d5ad65d12a561b7680ddda61c0dad
+size 4103001
diff --git a/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50eac4ba3b5066ac65516c86409c8bde2b72237c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937ac9f7293911cbb8221058e9f22d4dbf901961498521106c123c71ec3d712f
+size 15675662
diff --git a/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44ba2443d6fa53df944d88511a726c8d2e9625f0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddc3a2977c1df4b6e1ed855d39b8d17fa06fba99cdc558d3b8bf234f39a71c7
+size 16468340
diff --git a/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2338282df03025c9b3dcb269a6af5ab032227a8a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045603/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28df1973bba49f0e1c98fc8bc394d639bba8cfadde61303686b864810645882a
+size 924189
diff --git a/TASK02_A210041B900443_20260723_045627/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045627/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0d40631ae8a9eb6f7f2b62f65b8de7111709923e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359f299a59a907ef3373977f7b249a84892104b60b7fbcbf7ebd780e599dcb83
+size 275727
diff --git a/TASK02_A210041B900443_20260723_045627/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045627/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..149b392598c228f6f5112f87846d8769a7ec14b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 534, "chunk_index": 0, "length": 535}
diff --git a/TASK02_A210041B900443_20260723_045627/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045627/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab56084b49356f7a2f2799cb26e3d9273b30dcba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 534, "num_frames": 535, "num_steps": 534, "num_samples": 535, "duration_s": 17.82956075668335, "fps": 30.00634773346601, "start_timestamp": 0.0, "end_timestamp": 17.82956075668335, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045627/meta/info.json b/TASK02_A210041B900443_20260723_045627/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..428eb02deb00f87c86f3d36141f40110945a1012
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 535,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045627/meta/task_info.json b/TASK02_A210041B900443_20260723_045627/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cebda6a4b02a0cbb6a235bd51c812b0d3d72de58
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1808",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:00.416786",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045627/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045627/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c595ddf23a4744364256bb05d03bfc1915c5e71
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9f9a87263c23f0f900c26957eef6cc5ae799a18dadc49908f4a54b603a48e7
+size 8948607
diff --git a/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8b6ca0c2cc6c9909814530c5d803d0a0867b02b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31bc807d5b7a42de4afeb761e983458df1ee673d5f0e86a4a0a79446e954c2a2
+size 3430255
diff --git a/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdb82a94a5f99ea70702f1e5ae31aa3c47182672
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83223fb21a8e8ad06a4c8422d98626a8296f7b0285609927dd51f561423e2441
+size 12775884
diff --git a/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b938b3ea345135a2468c9700d54cc46f76b5dd30
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64992ef15c0588d976e9a6ecb753afdd774d5fd475c506b28ba040db3760d88f
+size 13942646
diff --git a/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..650185c17b860c79cf76b9a8eb7f4f7ec94ab438
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045627/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed537c4707b36a9d7d71ca4de8dc882015c2373b54ecfe4d727bf1a1ae19443e
+size 675501
diff --git a/TASK02_A210041B900443_20260723_045647/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045647/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..19f6b04a3f3d1e2c1947edb6ea86ffb518a1442d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1440e78c523ea56b077f907fd3e7b493eaf7d09f3243647c3ba3a4971f7808e
+size 345518
diff --git a/TASK02_A210041B900443_20260723_045647/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045647/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1e08f26c8f77dee7a7079d521f93fe267bd3562
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 672, "chunk_index": 0, "length": 673}
diff --git a/TASK02_A210041B900443_20260723_045647/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045647/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09800559b501ac0f1ebe892f17bfcba457f28dc2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 672, "num_frames": 673, "num_steps": 672, "num_samples": 673, "duration_s": 22.40573239326477, "fps": 30.0369560872871, "start_timestamp": 0.0, "end_timestamp": 22.40573239326477, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045647/meta/info.json b/TASK02_A210041B900443_20260723_045647/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca157074be7a70757da2dee217af364da16e4c2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 673,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045647/meta/task_info.json b/TASK02_A210041B900443_20260723_045647/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2748f736ee38b42f5b90fc82141a0f5f70d5d28
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1809",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:47:00.062275",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045647/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045647/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f2b1d1792be7756aed7bb168f4a96e209eb2c8b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aece1cce5fa47af100b25e6ce4f2c6309a64f0a8e3abd47ddd11df936c420d96
+size 10709347
diff --git a/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaa2a66608af622a665c131c5bfce2b0ab80157f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aeda799c1e58eb51b366427889bcd0a40a87386592ae2fa7c19be044dcb78c3
+size 4383449
diff --git a/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf5821265ad88431f786c716e3fd2d6bd3fe54a2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53e330ec159b6423f9c538da137b5a27317d370af3a2df230156d82f47d3cfb
+size 15663650
diff --git a/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c631e053085180279fe463d831c000db3716bb6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3218671fdc81aa5e44e415361597063a7cc40a5abe9554312b4f111fbe99c861
+size 17654436
diff --git a/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f80dba4111cecd4a45c1e2e4e1cf3e8b8e2cdf70
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045647/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb5a0cea17e8d46b40bcb9d9c46143f0514f323459209a16ffe3c5e759fbe13
+size 1080192
diff --git a/TASK02_A210041B900443_20260723_045714/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045714/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5c772be92791f296d2455bbf80c2f09cf6fdebb8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08990d4eb09c8d5b7dbeba855b4eff3e8b81d905fe0925133117200263c5c173
+size 313349
diff --git a/TASK02_A210041B900443_20260723_045714/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045714/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a822aca8033a17c367a5eae169ed352bacc56c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 611, "chunk_index": 0, "length": 612}
diff --git a/TASK02_A210041B900443_20260723_045714/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045714/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e302537a7da6feddca0411b054c97648591e1a2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 611, "num_frames": 612, "num_steps": 611, "num_samples": 612, "duration_s": 20.38921594619751, "fps": 30.01586729057794, "start_timestamp": 0.0, "end_timestamp": 20.38921594619751, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045714/meta/info.json b/TASK02_A210041B900443_20260723_045714/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..112e9e21ed5fd1289657866e90f8ed6f01f5c32c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 612,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045714/meta/task_info.json b/TASK02_A210041B900443_20260723_045714/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb635ef6005492273bebb2c0cfaf59eae754cf1d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1810",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:59.692480",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045714/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045714/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba58869d7db8ec771eb166bdf632ac3a679818a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdee2e86055d0dec5f100055c59f33e23f11ff5e32b26071f37a69beef9600f2
+size 9639071
diff --git a/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20dd11d6c0ac3b4577dc468b502b1c4a636557d9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cc5c614ae6b87cf89b67883b298eb828bef565e5213a1eeaa9199d40a3b342
+size 4495812
diff --git a/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57f27aa86e0b42e51a347b12a3acdfe0f5445a18
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a5e5fad969a94f7cffb15baef69193c9789a287ce12576f3f71bcbf6eb19e9
+size 14943439
diff --git a/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fe0186088b48ff5f3efa8cf570df4d258d97892
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7463b6254d5657e9ccc0d27f6781c4da2e05ef4c979c863b5aa231d66aa7e7
+size 17000675
diff --git a/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bbab2dfaf99334a2869c18d007a380e70f7a525
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf93ec40f9a690c01e0f9c277c283e9450a46c1a2762f4564444cb086013552
+size 1246131
diff --git a/TASK02_A210041B900443_20260723_045738/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045738/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a600de28d021f9de5cfe15f20935e44d40edf5c7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015dc72c02fa838df7d51af168eb1a4d9ceaadd507a2f80b4b2ccd3b77e8bb36
+size 391861
diff --git a/TASK02_A210041B900443_20260723_045738/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045738/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e61ce5838ad1d0f28612794b75e68b24ec63c4dd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 789, "chunk_index": 0, "length": 790}
diff --git a/TASK02_A210041B900443_20260723_045738/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045738/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3cdc92ab054f4a78b6b9d9da9fdc0510e7e52c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 789, "num_frames": 790, "num_steps": 789, "num_samples": 790, "duration_s": 26.32716655731201, "fps": 30.007027086649714, "start_timestamp": 0.0, "end_timestamp": 26.32716655731201, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045738/meta/info.json b/TASK02_A210041B900443_20260723_045738/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..55646184984742e4e002f7e56a2a7029abb2da7b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 790,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045738/meta/task_info.json b/TASK02_A210041B900443_20260723_045738/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..38aaff3c0e38261d94a9be3efa0e591c99872e83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1811",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:59.550069",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045738/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045738/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1431e4ecbae9667e58e609b5b4a8ff3a3c75d8d9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f483cad091e9cf66d33d91743b618c03717cc6893506cf6dd6a56bebc13971
+size 14342391
diff --git a/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b53114373eae003027cff53c6183dc9318a82279
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d40d2aa68283b04a0987518c3d596144a2e42f86fec91ba59084af5f6ce340c
+size 4589735
diff --git a/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84de5c614c5e42086d98b27f9a0d4ce9ed112053
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541717057be3505be5b105ed3d15bae8da409cdf372a9fb70b4af31ade9cbbde
+size 19484122
diff --git a/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2043f6b63c616bee5b50f46a99665c6f1308d25
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e3f3c1592bef6f7eb9a9c85c5d738a165d170b4f2f85f66e8fe5e8d6880359
+size 21015591
diff --git a/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e76f3cc3c9713d91409bf9c5c95640c813100aaf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:086de77c8705286c1edac7d1cbb2ba4047ffbc36a4da2e099284317fdcefa1a9
+size 985078
diff --git a/TASK02_A210041B900443_20260723_045905/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045905/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ac44857787ad9e5284939737b503c4e2d751846b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57f914cffcc190fc3fc3c3a9765acecde29c588b5f0b7aded489b8b9f881eb5
+size 278283
diff --git a/TASK02_A210041B900443_20260723_045905/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045905/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8acb14838d6b555e0d89aae1b66af3ec67e3dd40
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 582, "chunk_index": 0, "length": 583}
diff --git a/TASK02_A210041B900443_20260723_045905/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045905/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..085a712500bd10c16f3ff08abff6e78fd814bc86
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 582, "num_frames": 583, "num_steps": 582, "num_samples": 583, "duration_s": 19.42862820625305, "fps": 30.007265248524494, "start_timestamp": 0.0, "end_timestamp": 19.42862820625305, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045905/meta/info.json b/TASK02_A210041B900443_20260723_045905/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4133d524085eef9975e289d96cca45466d2a950
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 583,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045905/meta/task_info.json b/TASK02_A210041B900443_20260723_045905/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28620a2659e0ebdcf2cf3169481ec82a306790a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1812",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:59.404104",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045905/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045905/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddb9f71a1bbd3cd36e4758e8eb414c491661dee3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960c7eff03de14aa88d262633bde69bacd817bf230a35f08cb9bea4e89298205
+size 9586645
diff --git a/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4eecb86e56671eb8d137f7b90acf8a3ba8470100
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0a9c1889f79ff8519671f5d1d4eda2116c1abbd86446b7a8bb5b4aad9e7d3f
+size 3982551
diff --git a/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b850bce4b28839a9c8e21eb5623babd9180e6d57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f877f624bdf81f5df44b3172172b5bfe862a0f8512afb13686adbe10c992ba3
+size 13245670
diff --git a/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e311f2e78e0fc3f99b837ee6e1e8e7568fb78582
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:365a4e94667d10b9e47d8e069919adc562a28a8b4e8db26f09bb7164c3de96bd
+size 15764335
diff --git a/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dc9fd41e2c69244492537534ab0b9a2bc80a42e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045905/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a362519357ed186fa4a03441cd4f26cedf22fde3c8143b31e665f477cb613f83
+size 870144
diff --git a/TASK02_A210041B900443_20260723_045928/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045928/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..985d32a2a6b69af872ca6fc831d8a0c72b2f7496
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23984c30bc5fbb7e7384c1be043887d0c605214a0977ceb34f60727ea2dbe3e8
+size 350571
diff --git a/TASK02_A210041B900443_20260723_045928/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045928/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ad5d3a84112c6d1cbd28c915f50500bdb532cda
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 693, "chunk_index": 0, "length": 694}
diff --git a/TASK02_A210041B900443_20260723_045928/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045928/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85ff56b79156e40a5a7f24445ec408a854833787
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 693, "num_frames": 694, "num_steps": 693, "num_samples": 694, "duration_s": 23.124226808547974, "fps": 30.011814265005384, "start_timestamp": 0.0, "end_timestamp": 23.124226808547974, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045928/meta/info.json b/TASK02_A210041B900443_20260723_045928/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..50920c5be87864cada96f8e29de4c2080c6e1e48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 694,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045928/meta/task_info.json b/TASK02_A210041B900443_20260723_045928/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9e9f1138793650d7d829c825faf81ca07f5c8d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1813",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:59.189352",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045928/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045928/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12e2157082b11ba61b725e2ad5c9cf9ac25c17c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a30804f17386748e5589e721db691eb1fe0cc0b6e4a957069e4fb01ec9f3f18
+size 11267431
diff --git a/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..864294c815c7d1de44a8cfd1dd1a96f55786b4a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30547dc7a3d52ab9b9024c732a18e4ee315bf5cd6fbe454d207db36ad991b9c5
+size 4353213
diff --git a/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f9ff0e3092512ac0d7ca0f4fccbaa3dbc2a5425
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7cbca452a0a73dbc1abae34df883fcd99c20231f7882b48ee33cc06cdfdaa27
+size 14703096
diff --git a/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95d0a4ac7185cff99b4cd9af223c6f760fec3bc4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d778fe05fa718bfbcbc0421d7fe2c6903d80d699db9aca939710b5dbae160d
+size 17161277
diff --git a/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c974c7c061db5ccf3b591f463cb1367a7d99359
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b947297e844f42021db4fce7adaa5238d725f12883586020beffcee0bd4d02eb
+size 962195
diff --git a/TASK02_A210041B900443_20260723_045955/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_045955/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..829eb294407adf0a3a15537d6ea0f7c0636f81d7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43cf6119cef7a94ddd526044a4636821e48961eba8b770ea6a41b623e78d1f05
+size 337652
diff --git a/TASK02_A210041B900443_20260723_045955/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_045955/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8296c7bd5a206edb55d75e3aa7a5af91b5dc37f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 617, "chunk_index": 0, "length": 618}
diff --git a/TASK02_A210041B900443_20260723_045955/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_045955/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9fc0d5d22a50ff1110ffa09608fff22525d8c169
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 617, "num_frames": 618, "num_steps": 617, "num_samples": 618, "duration_s": 20.57417893409729, "fps": 30.037650687279555, "start_timestamp": 0.0, "end_timestamp": 20.57417893409729, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_045955/meta/info.json b/TASK02_A210041B900443_20260723_045955/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f57ee32b818434cd97d270bf20fa5ebde68018
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 618,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_045955/meta/task_info.json b/TASK02_A210041B900443_20260723_045955/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c1d31e954e5c58210ea9aa79ba66e3cc198df6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1814",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:59.005100",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_045955/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_045955/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b656b64d2b9657214139c9c68e57786e06fa28c1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafbb2c2f5d92a1731c66d61efc103c6b9a35254eccddb90ebcc0478caf9980a
+size 9791990
diff --git a/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16f35b1080c1aa78a0fd8c85b70ba42ec048687d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4ac1e38228861ad75a47d2c869c860d6d5c1d08089775d729d17509bb08a28
+size 3172399
diff --git a/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dcfc9b53fd0d9370c59e07a9adbb2b269f777e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:862ad890f6269e6ea70da6c272020ce9289e971cbe6e3d67be46383e4eff864e
+size 15589514
diff --git a/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdbb9ba57576ef113862f99596f32544e694d567
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f454aa942b0af62c0b63f307addeba80d77e3ee5afca415f9165654bf796b76
+size 16000285
diff --git a/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc40d44e3fb4aff457c13fb5f040ae7e9575c091
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_045955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798994f121d23698e1d2fec928b996f4cb45352caf390aaa554c5edac45eea7f
+size 733028
diff --git a/TASK02_A210041B900443_20260723_050021/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050021/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fa86cdcb34ddddd7ae517eae4bcb6dcea137b6fe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd94db6115edf9f364f08be2dc412c4f239b188128cab734b2172a412369d0f
+size 364555
diff --git a/TASK02_A210041B900443_20260723_050021/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050021/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5165c3d19d5a33301491ea2d4e9781320262ddeb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 719, "chunk_index": 0, "length": 720}
diff --git a/TASK02_A210041B900443_20260723_050021/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050021/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddd64eaafe36de8ec182042909e9e1bcc6e22f52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 719, "num_frames": 720, "num_steps": 719, "num_samples": 720, "duration_s": 23.96765685081482, "fps": 30.040483493300783, "start_timestamp": 0.0, "end_timestamp": 23.96765685081482, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050021/meta/info.json b/TASK02_A210041B900443_20260723_050021/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57afc62be83405910eea2d4962c8ce31beb4b34
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 720,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050021/meta/task_info.json b/TASK02_A210041B900443_20260723_050021/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2105e9313a270e29d642a9608fbd9b632285f6c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1815",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:58.738834",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050021/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050021/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01d6033fcde36f52f1ac6063ca338c8661a1f662
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd03099eec535185a2e0ebac29757596dfa197d199abb6624585743c0e9ea84
+size 10761165
diff --git a/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f268aa681a6164a1f91347af7f0292dfe3ae3e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f94eb001739f4a2db1b78dd6578c4f49737699437c1d87b8a79a8b662a9ca33
+size 5210684
diff --git a/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f61b0d7fcd07df990d8fa642f338a0b0b0a2d2a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406aa41e9357f60ac9258630c9c6fe436512cf85c7200dc202b552feeb597c99
+size 15345525
diff --git a/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7600b1bc242fdf350606ea2f52d664ed013d740
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba63c40650648bc83712c348d9f0b1b006f26d7ed4a8905137ae0667c18978f8
+size 19380571
diff --git a/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d72726ffdea8cb0c4b0247158973e3643f4dea0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050021/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37fde49f8dd2bfb4a16bae1bc610c0d8c2ac739e22e59dc3bc8e322a93d03888
+size 1044995
diff --git a/TASK02_A210041B900443_20260723_050101/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050101/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..25f6ad6d50467dee494f3839537bd580c1ad7134
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce0b225f5a2bbb4ab66a050c367bf5a633c0940ed0046a92832fd1fec32b29a
+size 330660
diff --git a/TASK02_A210041B900443_20260723_050101/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050101/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d37a1d35a0b2f952fbbd7eb180ee9c810eebff93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 653, "chunk_index": 0, "length": 654}
diff --git a/TASK02_A210041B900443_20260723_050101/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050101/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe4dcd576e758a6e9555f36cee37f41d4909fd81
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 653, "num_frames": 654, "num_steps": 653, "num_samples": 654, "duration_s": 21.774522304534912, "fps": 30.035102072654585, "start_timestamp": 0.0, "end_timestamp": 21.774522304534912, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050101/meta/info.json b/TASK02_A210041B900443_20260723_050101/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f729822821a1b5c3867edb2f4cb4a43691c311be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 654,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050101/meta/task_info.json b/TASK02_A210041B900443_20260723_050101/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c2304180e8dde5b5886f7b629153d6e5836c66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1816",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:58.463710",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050101/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050101/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..958ad8a0eb401e0ce442829eb02b07013ace67c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db4e0bbe7bbf8a11c1471968cb47719ded0c5b50c54a356a8574ae2a3b6b77f
+size 12202679
diff --git a/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6948843ce43e80e406c873a55d014b7ba8587c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbccc9e9c18d3ddc42a109448807136aaa55f7bb9ae5feca8e96e2d8cd6577b1
+size 3668036
diff --git a/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8b661031fc0baa6cb955a8c651d8f87d4365c94
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42537e69c32cd6266b8b39801aef7b26cabcdc03895616774446727640bfbba5
+size 17235308
diff --git a/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..245c31557a567b1b32090b8937a127e12ee4374d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49053c7bdc4490c85ff17425f8b18b4035a1e28cbc7db7da294f20e33433e0db
+size 16518156
diff --git a/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d991dfeb0b01bebbc6e11ebf58d2f4bc9408e7f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050101/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:267ad00edefb0f896a976d64bebd8056928352d269ec91048325f04e8c4e48ef
+size 893095
diff --git a/TASK02_A210041B900443_20260723_050126/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050126/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2488c823f0841c49ead79174c0ee82701d28095b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:709bef4c84ce2fc4d2b4cc1f76e3e32e17445d67a7ca5b27ae771a52d96f49ee
+size 371788
diff --git a/TASK02_A210041B900443_20260723_050126/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050126/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..503dc63d9c903a91a39e56e2f7df47b7bb0c8a06
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 699, "chunk_index": 0, "length": 700}
diff --git a/TASK02_A210041B900443_20260723_050126/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050126/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aabc9841072cc395932bca5b7bd00a5be601cc3c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 699, "num_frames": 700, "num_steps": 699, "num_samples": 700, "duration_s": 23.321305990219116, "fps": 30.01547170186686, "start_timestamp": 0.0, "end_timestamp": 23.321305990219116, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050126/meta/info.json b/TASK02_A210041B900443_20260723_050126/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce4b9f9f8f33e19cf580f1cd508cc6fc1015a85
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 700,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050126/meta/task_info.json b/TASK02_A210041B900443_20260723_050126/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3872c8f2623e6604a71d1995f7afac05ac1873e4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1817",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:58.197185",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050126/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050126/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d1d83d94239cdbeec191e17d7e24a0b8444d492
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceecc2921b7f85a0874a05a5b70a83cb680fb40bfc4f37373b52f864101716b8
+size 11343442
diff --git a/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b67f06c58ce24854ae30a1aa4a0283269dd629b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3e6d9e4dd675ef77c53f911f916522af6ff441021986c70e6bfe146e14485a
+size 4580816
diff --git a/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d8bd23f19323ea86b5e8c200897b12ee9d41311
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4686491269ee1e479b0eebca5ba3d5c1c08cf4a662703ab20b211d16844ed7
+size 16680455
diff --git a/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..201363b694e0c5224e6ed7b28dc14e2e5d3e02ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59808422a505ff9456bbba28ff644aa86bc51e8146276f202133e7939d9bca8
+size 18382659
diff --git a/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..254c7d5ea4127a77b5cedc2bd8a44bf3dbd107b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050126/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d03639d1f1a032f8eb293d26f8c6c336db52a4f5e2ff66b21b83ce85c5461a
+size 1000651
diff --git a/TASK02_A210041B900443_20260723_050153/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050153/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..95a516d3b0a20e58f1a28b198eb1cecaafd012bd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58dc93a38c733711cadf6cd7d19b9dfa13bcf4326e27cdb984ebf1aa119d846e
+size 322208
diff --git a/TASK02_A210041B900443_20260723_050153/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050153/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33188bc2c43fcfbd728fb1d069bcac710df5a065
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 636, "chunk_index": 0, "length": 637}
diff --git a/TASK02_A210041B900443_20260723_050153/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050153/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75758cf72c5d314677fa4a7bf14459e32adf185a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 636, "num_frames": 637, "num_steps": 636, "num_samples": 637, "duration_s": 21.20968747138977, "fps": 30.033445842107, "start_timestamp": 0.0, "end_timestamp": 21.20968747138977, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050153/meta/info.json b/TASK02_A210041B900443_20260723_050153/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab39c181ad72adc6c617fb4540510b7d738dbf31
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 637,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050153/meta/task_info.json b/TASK02_A210041B900443_20260723_050153/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c78cea52856fdbf5afe16de5ac339edbbd639f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1818",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:57.720268",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050153/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050153/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9089accb6229d5d992b018eb479848d694f71759
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:729124bbcb74e8711e7ece993501cc05b23c8d9a0d4c26714dc1acf00f3c84ca
+size 9307863
diff --git a/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578ef510aa1766c59ad8bd44964105b4bc5cbac9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c56c0b47ad56b635702d9e5d5020182530acbca1bcc954aead7e3027708e542
+size 5405924
diff --git a/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6341d00db5cca5f1544b67d4cad751d792d05bd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc503558f132c0e2a7fa1f41701ca45d3d0a5a27f2c2c4dc92a031db176c525d
+size 14714161
diff --git a/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..112064a20cef09f73b728382cf46ddf2fa700d9f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999504f6e5ab6a4cb1e9cf60b5ac6481714122a4eb264af139f2b7a27e11eb18
+size 17130355
diff --git a/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a5ff4db7d6ad5e72114d5197e82c7719be9a5c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050153/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b65c889c3b80ec3c02666ff44ab0f3feba6014d938b06a4f84771cafb2b6ac
+size 994076
diff --git a/TASK02_A210041B900443_20260723_050224/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050224/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a3def50c23c410e2c471def7d74dfc4500900499
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bff3203c45348206c7bcbccd4314479ec51e62f8f20975017bcdf8d221e3c62
+size 303120
diff --git a/TASK02_A210041B900443_20260723_050224/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050224/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b67d56addf5e453583a7a54b2d626b5a79ed62e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 601, "chunk_index": 0, "length": 602}
diff --git a/TASK02_A210041B900443_20260723_050224/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050224/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..100bf25ba021718b64c6ea84b720340ec97eb082
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 601, "num_frames": 602, "num_steps": 601, "num_samples": 602, "duration_s": 20.045779943466187, "fps": 30.031258534104513, "start_timestamp": 0.0, "end_timestamp": 20.045779943466187, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050224/meta/info.json b/TASK02_A210041B900443_20260723_050224/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..537e09103c693bf4891c26a6c1abf0e1d9e41c43
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 602,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050224/meta/task_info.json b/TASK02_A210041B900443_20260723_050224/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6dfa155da411317c951601461f6ff99a5ce25fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1819",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:57.554469",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050224/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050224/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fc10b12e6d3e11d8cbb56035327f3420c958a9d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a60b979f20dc777cfc85a87b4179cfcc9eccd0a3e6950bd588fed3149c1a20
+size 10780667
diff --git a/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d27e67db68a695e92e5f78a5528729220d12b34
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047021d0236370d6612b1b5fc6ad3d2bd1d74f2b1d6d49e3c1dcd0472db51a43
+size 3136968
diff --git a/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..544d2acc357edcd0e9b162c345c1c52d044937a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54cf677130b23ec5e6a32387db331354acfaffc9c5c366c67b598e0b6d33b92b
+size 15308204
diff --git a/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89859d7a4386a1e974b318dafd4a027008529807
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ecb7ae1e0418cdd518d6cab63a260698250314fdc631a98688e75e99400231c
+size 15929792
diff --git a/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa0936433eac3272e11bcbeae7df4b5ff2795f0c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050224/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40cb941532d1386e39fe64d5857cce60dad31cbd2209f5b12a51daae25040a9
+size 857974
diff --git a/TASK02_A210041B900443_20260723_050247/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050247/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7443607e5f0d7c50d2265a5a7b290e13707441d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88f215e7181383efce5fa866bffb813d92ec087a35960e51524406f466e9f7ad
+size 257887
diff --git a/TASK02_A210041B900443_20260723_050247/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050247/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14ab05c0daee6d0963bb479193e063d9d272850e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 486, "chunk_index": 0, "length": 487}
diff --git a/TASK02_A210041B900443_20260723_050247/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050247/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c1aad2b0110e6266eb7f8fa26dd5951dccdd248
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 486, "num_frames": 487, "num_steps": 486, "num_samples": 487, "duration_s": 16.213348865509033, "fps": 30.03697780388877, "start_timestamp": 0.0, "end_timestamp": 16.213348865509033, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050247/meta/info.json b/TASK02_A210041B900443_20260723_050247/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c5e40b59fdbc6aa8d5737b49bb54d1f9d84c60
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 487,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050247/meta/task_info.json b/TASK02_A210041B900443_20260723_050247/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9d1a1152a595d1205b2f153bd84e4ad2c6fcc5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1820",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:57.383131",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050247/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050247/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8ed78b1bc61d79be5a98374a01782bb8136d3ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64267aee86f64efbfaf181a27619984e67a35ee8d31fbd10876bb0477789880f
+size 7681182
diff --git a/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc1d734c9c77a8606c1366120c067fda6f7f31e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0213c9ef9cde3968fb1bf7e55fef29f6f79b40ce993f01f4824e53bb709f65
+size 3138012
diff --git a/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f68bfab87625a7bfd69e2d9c0e3aa45b21e88ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a936ea23eca31fd05bcf764cfbe0c0150ca901c686f85ee322625379f0516fd
+size 11359933
diff --git a/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9841bcda1c9b23d3f78d06ec4c792625595c32ec
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:812bbd611e02428d7eafad1686befc29d623389ce51c10f9a168d46082c2cf9e
+size 12886347
diff --git a/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26d3dd198c2f2d8aafce9959bd0027fe71ef81b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ccd8fec8ff1fc8fb80cdcd9ab91029e7f2b5a683047d82561bdd524582229f
+size 767350
diff --git a/TASK02_A210041B900443_20260723_050307/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050307/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..930434df9f9e8de4f46a0dd8b843c639f475fbee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a914d0fce8f3b8cc8c92ae926f86cf2f80bbe8c1b8f3c8bf6a6e9b4df1b06d
+size 289653
diff --git a/TASK02_A210041B900443_20260723_050307/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050307/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03dd402329fe9f1cbeb2c2b52f6985c51684e197
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 599, "chunk_index": 0, "length": 600}
diff --git a/TASK02_A210041B900443_20260723_050307/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050307/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4cdf73fb0b67aa7e5bbf4bc63ba71ee5c2e5c82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 599, "num_frames": 600, "num_steps": 599, "num_samples": 600, "duration_s": 19.977158308029175, "fps": 30.034301713414834, "start_timestamp": 0.0, "end_timestamp": 19.977158308029175, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050307/meta/info.json b/TASK02_A210041B900443_20260723_050307/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2aaafc38e422cdaa212844adf241f26ee536265
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 600,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050307/meta/task_info.json b/TASK02_A210041B900443_20260723_050307/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..af2f6160ff0ac90d834fd85179f8fb4cadbb49f5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1821",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:57.144436",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050307/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050307/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11a2d66f017ed4cf6194b94d870ba29819e532f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213b323bf57316872b55f9ee4800f6aea559f9f06916a4e96970ca03e69ce926
+size 9562539
diff --git a/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21ac9aa3fa37ccf9bd7a146063cbc52d1b38e79e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce0182b8771c74b0a31809415364df20539f2100f9d3cabed81e5e08f6a92a4
+size 4270299
diff --git a/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41d07d2d6a8a5cc3ea916af8e8c0d335b3f8650a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f765f0b1b2c81e8a376d1a826a72d06d1d5483dd2fd17b209dfb25396874de1
+size 12976936
diff --git a/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32b08e16963d71d89aa5046fdd8b3dfb9fdaabc3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7f5d513f90a95a7660a2413e3c931be4d535736bae6c16a97b91e84d14f632
+size 13919004
diff --git a/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..371b2567a1d7731bc8df3338693fd8f338a4dff5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050307/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a664445c3c9734ce8b20962e9bacbc2c8888456450b86c0e0f6c7bb1f35665f
+size 802471
diff --git a/TASK02_A210041B900443_20260723_050346/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050346/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b651946b3cbd332154c92e511baa69da027cd2c6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4c34f46c8ba90c01f595d208d511e5bfb0fd26c42d7acf6fcd51768904d192
+size 275393
diff --git a/TASK02_A210041B900443_20260723_050346/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050346/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10ee8d7e1687b65a62fe235b3bd5834eca53b5c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 551, "chunk_index": 0, "length": 552}
diff --git a/TASK02_A210041B900443_20260723_050346/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050346/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22b688d8b1f6b846eebff41f41539b7028e55b27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 551, "num_frames": 552, "num_steps": 551, "num_samples": 552, "duration_s": 18.388392686843872, "fps": 30.018936913117642, "start_timestamp": 0.0, "end_timestamp": 18.388392686843872, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050346/meta/info.json b/TASK02_A210041B900443_20260723_050346/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3b9148ebba18d602858d310c92e0590b120a68
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 552,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050346/meta/task_info.json b/TASK02_A210041B900443_20260723_050346/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..049c6aa66c250319a20396e3faf3e4df5b4aa17d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1822",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.903190",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050346/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050346/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27d232360d3b95d14d03ca788b73b387f9e75921
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e658b0bfa4d48d648e3f1a85b614bdc7e394adb8cf29bd665e1095cdf940ce
+size 8309430
diff --git a/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3cd4740b6370fe7b1783f56f437b28e2ab1f9ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:971cda0118fc9f765775326dcfd67fce0163916541f9904d5fe8ee0cc10b4313
+size 3864902
diff --git a/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67032020a4b11209e88a16ca508bb35540019d3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461d5e61acde418f351281701d736b966dd75bbf61530b09c9f50706d8389fe1
+size 12541551
diff --git a/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d2aa7401cc367283594e45222298558d30adcc4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f011a8fc0de477c13fc50a86e678233b3a6154cad36758cce21f6323ac81ee47
+size 15283121
diff --git a/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02e97b39e669e55185b9cffae2501d93efe8a511
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7049e8922eac21d313016a4b4986d2ff779163cc10d7fff1a1af8e4d4e819b3
+size 939083
diff --git a/TASK02_A210041B900443_20260723_050410/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050410/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4ec672a1b7eb0a02122adf102ade58efd6950ab9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52e70b88181051b5c6c99444096d9e8ffd1c1205377c35150c74430d98f341f
+size 339815
diff --git a/TASK02_A210041B900443_20260723_050410/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050410/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3119a8dff2e26d7e6f49872171ab99c34c2132d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 628, "chunk_index": 0, "length": 629}
diff --git a/TASK02_A210041B900443_20260723_050410/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050410/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5bd6b723c4dd27d2357e086941436efbfd916bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 628, "num_frames": 629, "num_steps": 628, "num_samples": 629, "duration_s": 20.961665868759155, "fps": 30.007157061760484, "start_timestamp": 0.0, "end_timestamp": 20.961665868759155, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050410/meta/info.json b/TASK02_A210041B900443_20260723_050410/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdf1309311dd544d02634a962a8518aef6eafcf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 629,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050410/meta/task_info.json b/TASK02_A210041B900443_20260723_050410/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd2e1534fbaa9930f141b939fa52d9eeac0f7d42
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1823",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.729540",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050410/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050410/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0dee59ecc4a40ed85ec221e7ccdba3b89655523
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:127477cf722856c62a28407829f6efc684962153156f2589e36222882d40642c
+size 8933522
diff --git a/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9179a7c4e6e873d36248803e115ba4c493df4109
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11fddd7861482de7362b8d529b449c03c9202175c13a9157586fe906e79e7524
+size 2586464
diff --git a/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07ffe43f3f91b047e50d50a6456af41e1c33f9a1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68321eb2f9c3c0f9ae5b1c9166426268bb9c8a3910b79356b734289ce87fd2bd
+size 15354092
diff --git a/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8793f558760dc6e361a88ff9e269d585e9459a06
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088a5fad79cd1cec648d995febe2a0505b2338a875e12e48c52d5795fe6e4852
+size 15861363
diff --git a/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d5df10dd8909aa311cbeac89be188e7c6e54ad4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050410/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b611c003c33f27c7f04c79cbd674a1c6eacd5fa329f2d4b1dee9735c7ee34cf
+size 950104
diff --git a/TASK02_A210041B900443_20260723_050434/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050434/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d045e16477483ce7ea10cf845277129bbe3234ed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7425963fdb3b9e4e8389bfdf89e68c1d6cc47123278d1dc2640968def0b53bd0
+size 321334
diff --git a/TASK02_A210041B900443_20260723_050434/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050434/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fba2572d4d891cf8ecfc974d9bc2bd3348a8273
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 655, "chunk_index": 0, "length": 656}
diff --git a/TASK02_A210041B900443_20260723_050434/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050434/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f47438b08db6be01807b53d7bc43629b49e593c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 655, "num_frames": 656, "num_steps": 655, "num_samples": 656, "duration_s": 21.838080883026123, "fps": 30.039269637007475, "start_timestamp": 0.0, "end_timestamp": 21.838080883026123, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050434/meta/info.json b/TASK02_A210041B900443_20260723_050434/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49e77793e784518ade32336dfe57ea08784097c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 656,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050434/meta/task_info.json b/TASK02_A210041B900443_20260723_050434/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..279054c6a904838f60356d0fa0452b57b743699f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1824",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.565757",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050434/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050434/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd8d535af3c0de14e683fca57d93538ff718c85f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134f3d065ff68e972748dd4f37ae7c93131f96515edfd8d7f3b04e0525a52eb1
+size 8942888
diff --git a/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a69ac51ac4ab0562cfa5e84dd88acf4894e75f7e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3cee52430b5ca016eebe331d722c5ed1b77fa3f24cdf4fad22940458ec541a
+size 4236496
diff --git a/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80281a642ceecfe33216e18edf84cc5bcd310f76
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0492222bae0431925113e09a10efcf12f3a7e8bb1c3a3e7b21112d857996578
+size 14364651
diff --git a/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f40eb2c09b9421a4ceddd1d17facefba58f71462
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4175b09dda4f9dd0f3d4c12a1d2760950379fe37b021c1a15a80a3434b15ca09
+size 18678110
diff --git a/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e1c06b851a6145058aae071ca59593ac03ed47b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050434/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac1c61d2a4decf8f525b6bb030e50fbba9f76f4f7de74332df4f8470cbaa9f8
+size 1181522
diff --git a/TASK02_A210041B900443_20260723_050500/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050500/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ba533c7571f91f3ddce30d40ed4ec2d5f6d43ac8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5dc15d28487b46894335397b5889e8951b9a2adf3e77bda73cc084666c8af8d
+size 320364
diff --git a/TASK02_A210041B900443_20260723_050500/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050500/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4e986003869a31f9f6348a2968ece30a9bfd4a1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 615, "chunk_index": 0, "length": 616}
diff --git a/TASK02_A210041B900443_20260723_050500/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050500/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7aaa98e1ea4848fdd2aa33618e42ab88d3dc95fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 615, "num_frames": 616, "num_steps": 615, "num_samples": 616, "duration_s": 20.528690338134766, "fps": 30.00678513113417, "start_timestamp": 0.0, "end_timestamp": 20.528690338134766, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050500/meta/info.json b/TASK02_A210041B900443_20260723_050500/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d0703c2ec62335d26564eed1e041d10139deb28
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 616,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050500/meta/task_info.json b/TASK02_A210041B900443_20260723_050500/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c92eeda11d158c2ef4f951dfeaf3f372b84f60
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1825",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.455214",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050500/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050500/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..913c199728d51273e2fcf1255ed2093a773d22ac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b122666003b48ee2b5f2277da70e82057568f86488a01555b39e8228598883d5
+size 8775062
diff --git a/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d44a08b8dbf0d7c659291ad3516f5d55bec45e0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19aa0e1fb0006abf23108517d9ac9635260f80256803ebd7c5844615bc7fc65
+size 4095563
diff --git a/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..758261cffe07b73bd87b9ae065d2dc76f8954e78
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6beea65c91e4b7d185b75bdc77c2e95d4805d6ca9b169e07b9ee53e09d71bdd
+size 13901168
diff --git a/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..821f5fc977e5f8dd4a50d8f56caef008c1d22de0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ba47a6188b069066b59df4b889b46a48bc0d007b91dce38f53d8b7094c1321
+size 13913424
diff --git a/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57da4a15ff803931c24110846ae2f821da452c4f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050500/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ecbf5a60df37f91470f40112817c37fec63fe10c99bec516a6b2264ee37b7b8
+size 672955
diff --git a/TASK02_A210041B900443_20260723_050534/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050534/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4ed8673445aeb971b298579bb6caac754a6d0d7c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be559aa2e486c05ccb3cf48862b93ee2c9fe237fed86987bbaffeee8a70aed43
+size 424891
diff --git a/TASK02_A210041B900443_20260723_050534/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050534/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df57432f33d70a3f6dbf11f4fdbd6094aa4711fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 832, "chunk_index": 0, "length": 833}
diff --git a/TASK02_A210041B900443_20260723_050534/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050534/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d45aa0f3588fbbeb38b6a0f70537088b36090852
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 832, "num_frames": 833, "num_steps": 832, "num_samples": 833, "duration_s": 27.761052131652832, "fps": 30.00606735110817, "start_timestamp": 0.0, "end_timestamp": 27.761052131652832, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050534/meta/info.json b/TASK02_A210041B900443_20260723_050534/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1189ad9ddb6f25542a34aa08301c7a5c71e9c8cd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 833,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050534/meta/task_info.json b/TASK02_A210041B900443_20260723_050534/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5504b660aebe27fd31aab45b81a3dc51fbc9fa4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1826",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.332660",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050534/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050534/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..959636a8cc57aff942f52321058f734e5a1055f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ff9b125aac6a3017161d772128bc4cd9a242cfd836a2ff5bc0b0c7d0da6fb1
+size 11906277
diff --git a/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf5fdec12055759e670e3b38c58a4d1012d7bdc5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b15a103e8c877252fa4751aa1d88f3b814fe8fe03f031a391296027e8371e5
+size 6317211
diff --git a/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c5bdb9e12968f66900097a2d05c7aeff6bc7748
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4eac7e7c6ed1a39fea51501186ef62c1b9da7c027b48afced012dbc8146307
+size 19837075
diff --git a/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..109cf30e12b00ad61210008e5eea88e6cbf8d2a3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a784b0fad2647690470bdee40b486a45ee1f8cdfd613b9e523bdcfca000e39
+size 20524307
diff --git a/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd59011ae3d06f5ee0d7599684430c5a5cc58bb7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac780de536bc070d95d27f74a82d0fff8785c7057fbd48f9afdb247384985c4e
+size 1309882
diff --git a/TASK02_A210041B900443_20260723_050607/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050607/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bff5fae439e00b63d783bcc7151d5b0f1606e87b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82d7c6c0aec2cb8c50088423dc0f15ed479d58e6392cfe35d7c9f773552f9eb
+size 300542
diff --git a/TASK02_A210041B900443_20260723_050607/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050607/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52c2b37ca97be3997002b984bc5f59eead2784df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 569, "chunk_index": 0, "length": 570}
diff --git a/TASK02_A210041B900443_20260723_050607/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050607/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24b60c83d6a427b1e4069688505f419063e0bc47
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 569, "num_frames": 570, "num_steps": 569, "num_samples": 570, "duration_s": 18.977035999298096, "fps": 30.036302825218996, "start_timestamp": 0.0, "end_timestamp": 18.977035999298096, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050607/meta/info.json b/TASK02_A210041B900443_20260723_050607/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4adc1fe2a00f0e59aa95395594528227b33532c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 570,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050607/meta/task_info.json b/TASK02_A210041B900443_20260723_050607/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fa993da4520a360bae864570ee8098ab199f33
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1827",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:56.144723",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050607/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050607/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cc5f90393ccfbcfb2fc2781cdcf3245515c0ff2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affae7703e7eca141962e1a66778f1170b98ea5c9611d20b007d15a33fcfe114
+size 8497296
diff --git a/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb529bebfbbd2e94600479ed02ae3fc9e94d9db
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6730054aef8fb372c7f2fdf36867dd031c5e2b84c1461cbf285b152c2a25ccfd
+size 3233043
diff --git a/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..741fcf67584379db0a6e9aec79dcce399f01f2dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ab5a817e67576997e02141429f07e1e3b9c8408f021c66cede07507785b8295
+size 13036244
diff --git a/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7d9396495ab58b8c437e33f5660f0f6201016bf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2922edbe256f0a4cf8ff787c7d033bf12d3a97571f709c814296ba23a598aaba
+size 13355534
diff --git a/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8666447ae1c0051fbb01218d9e09566cf263958d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d831e2057e89ba9e82a03fcfb8274aeb3a55503df8030f03937ac757ab0d53
+size 736040
diff --git a/TASK02_A210041B900443_20260723_050738/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050738/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d6b7936b5f39b81f0741cfb47c5f8e8a1947c4c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:846f315b531d358bc20cc124614aa7830297f7015040f96aa6f29c66ffe84792
+size 244366
diff --git a/TASK02_A210041B900443_20260723_050738/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050738/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..834006a5c67f27a8dd8c80852028ccd6dd9c621d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 462, "chunk_index": 0, "length": 463}
diff --git a/TASK02_A210041B900443_20260723_050738/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050738/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1dd0bc1b37f91612b5812ef18c81ab2c215d7df6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 462, "num_frames": 463, "num_steps": 462, "num_samples": 463, "duration_s": 15.421222925186157, "fps": 30.023559236915116, "start_timestamp": 0.0, "end_timestamp": 15.421222925186157, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050738/meta/info.json b/TASK02_A210041B900443_20260723_050738/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..809a223382b82fc6f4c2a4f23facfdf68ae19e3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 463,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050738/meta/task_info.json b/TASK02_A210041B900443_20260723_050738/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f284d1ce7905137400751b80c62f67c17cd24f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1828",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.806654",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050738/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050738/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74b509f40d3dcb4e9523b8d3600641682804e0b5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1beacacbb0478948bcd69a40df4ebbd58492196e33effb8bd69f1557b89b91a
+size 7279400
diff --git a/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..287c9265b80abbfb6cb60cf1e35dc10bcd2474c2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d629eb0c4806aee9cebc681545d0d63693a719c61a148bb257e82781492cb4
+size 2927321
diff --git a/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..193ebe0d51dafc501f58fcdc3fecde56853b29d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fad74fca3f0ef9c6b716553151322b001a963f151bc696847e3f0699877a0e8
+size 10436339
diff --git a/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6aa4d14e3df3d84c8a242443f925b702170a1f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f024e3255810eec025e71837bd048e972e92bb06ccb1481ccb3b4dc1e470e37c
+size 11545678
diff --git a/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be74c9a456a45224fb8a458bb9b561623f4d7768
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233ae89ddb73d55849856e85ed5e4e80eaa9e523508ca7b7dc71f78f269e78dd
+size 717995
diff --git a/TASK02_A210041B900443_20260723_050757/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050757/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fa1054b0890726c6b5b248544a13831e08fb4b93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1c46a10d1685d78bd6453009c5cfc47ab6795a48c61eb6fc7041d2c52f40c6
+size 276110
diff --git a/TASK02_A210041B900443_20260723_050757/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050757/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59ed417e635f95acc7056541a8e03144ac57ada8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 527, "chunk_index": 0, "length": 528}
diff --git a/TASK02_A210041B900443_20260723_050757/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050757/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..548a02d3de2519921c058b1235005e95f5f38974
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 527, "num_frames": 528, "num_steps": 527, "num_samples": 528, "duration_s": 17.59352946281433, "fps": 30.011033381106408, "start_timestamp": 0.0, "end_timestamp": 17.59352946281433, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050757/meta/info.json b/TASK02_A210041B900443_20260723_050757/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae33d418ce5937c9cfd7388e4ecc5dfe0d9846e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 528,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050757/meta/task_info.json b/TASK02_A210041B900443_20260723_050757/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c492aa4bc319b49a25782e0a221d59907e18a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1829",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.618057",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050757/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050757/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87041af946b00cdfb62a547b1c371d4eaecaecd6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fafff7a3696f66aecb35ec23f463e4ec5d0d39fbb64772e782fab082d6e13c
+size 8463594
diff --git a/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4731beba8dfd0c48a313d81764a7c04275a5b24c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6dcecbc557afc9ee1c69578fb4d564f004a8607b228e94a2495878c9e5e367b
+size 3557354
diff --git a/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ba11e7ef270c752a581529375a93e98c2ec3545
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600df30570ea1040f8c48a3e2f6ac97fdd3674931a0a102b327713f9b27d79ab
+size 12366142
diff --git a/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a815d7e94d91ba85e47d7d6208e2025b6603ef65
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11a4e12be7a18c7ed90c3ed6bb90ccfcb0c6a71d8e00462617a8237053b4ee48
+size 13290054
diff --git a/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cbe74ab49875a4e4d90ee9092e709a94f39ac32
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9c7fd321132b9d76333b7977a6b3706a114c8f6914b68c138264f028f493fd
+size 863162
diff --git a/TASK02_A210041B900443_20260723_050818/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050818/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bcc03c14fc2396064ffff7e7bf3215a096ade79e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a94411c9227f7e5a993ffa5b402948f135f58b485c738d17957774c49303d70
+size 389240
diff --git a/TASK02_A210041B900443_20260723_050818/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050818/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..320d448d4544d5906a519c4c96b23ce1775c6036
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 863, "chunk_index": 0, "length": 864}
diff --git a/TASK02_A210041B900443_20260723_050818/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050818/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb99996a4469ad69766358f466ca95103ee35e98
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 863, "num_frames": 864, "num_steps": 863, "num_samples": 864, "duration_s": 28.7697274684906, "fps": 30.031567068067524, "start_timestamp": 0.0, "end_timestamp": 28.7697274684906, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050818/meta/info.json b/TASK02_A210041B900443_20260723_050818/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc439c40476fccbabac68adf899060ed97a8b6c6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 864,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050818/meta/task_info.json b/TASK02_A210041B900443_20260723_050818/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..662b9343dd9ff7c8b647a1cbf2e59b68048b5de0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1830",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.482188",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050818/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050818/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10d699355cd1936302e8fc17146fa8a3980ce2d2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de31cb75568d4c763ade95ffefc06401db2978d5ebd11d9e7d74ef2ec657b5da
+size 15770143
diff --git a/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7da63e10a69af2d1e3e16afe0fcfaabfa52fa7b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d60510850a1a063efcd6aa59ad0a2f3ce18b7d6a1ec673c3132cea651bf5bf6
+size 5152299
diff --git a/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cce7bf20b34ee76d2d97600422e678e8e9766d1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba27f230dc983a28f5e392e7b57d7d055a5f2aba1f5720284a9e49967a5cbbc4
+size 21092094
diff --git a/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..528c95548d1bcdaf0bbc899ea749283ec828ad04
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e99c3e3c6a44e9b1c270596ab1406873fae31382835df86f2dc6218b69c46c
+size 20950604
diff --git a/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ea217b7727f2d75682d2216a56dd67b0caa0839
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050818/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70287fe616bbabd58ccd654d8c15ad309566f8d74ff473b6e466ec865467aff9
+size 1098276
diff --git a/TASK02_A210041B900443_20260723_050903/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050903/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c70ef0440c6b3eaf76bfb066a7857b8484a2dcac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9438c2e8ca7e803ece406fc957aa1aa3eb9882c99ad8e949eb951e1f8741ee8
+size 265197
diff --git a/TASK02_A210041B900443_20260723_050903/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050903/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45cb52ec5784db7cfcc2d74b7484a71fac08b572
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 522, "chunk_index": 0, "length": 523}
diff --git a/TASK02_A210041B900443_20260723_050903/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050903/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4c2913374118c64207bb48f9dae856346dbd207
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 522, "num_frames": 523, "num_steps": 522, "num_samples": 523, "duration_s": 17.41189432144165, "fps": 30.0369385630809, "start_timestamp": 0.0, "end_timestamp": 17.41189432144165, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050903/meta/info.json b/TASK02_A210041B900443_20260723_050903/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..697a847cc194480afa963c6f032340e79faa218f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 523,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050903/meta/task_info.json b/TASK02_A210041B900443_20260723_050903/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb5cd24c4753ffaafbcb4ae03ac50c99d5d642a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1831",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.371677",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050903/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050903/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3d2b4706909e10c65007d2511c31d7356ab9239
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17a91160831be121c8bb779efe419bf7daa1404a92a7a64c9269f2c11c36768
+size 8462151
diff --git a/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7216886e6a95b8ceb1c2fc8f6fddb5c7e3bb829
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04784f8c62dded2ec56006908a27470b67f5424b03e9d32864a5c059c810497e
+size 3204986
diff --git a/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4078960872af8216603ba814a6575fea2ee59ca9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9a11fb89db2514ad0b20579624967a46b2f1fd18611f3ecdf38e3aaabbeeb2
+size 11695451
diff --git a/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e57f13c74acbb4ef92ca1358643b3ecbc144372c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83652308f00416bb9812b70d50eb7e63b582c93db7d732d265597326c5d39a30
+size 12704986
diff --git a/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d2e6a7fc5f6ae715405a1eec7a7b8014e5d3f2e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6c1799531cbc1a4f8907bc189d54ec0cfe66ea858b9136785c9443716a63e0
+size 820220
diff --git a/TASK02_A210041B900443_20260723_050923/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050923/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c5b27bfba96919daaf4df104671b6177a87a7274
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9be18170899d8d3bffa779b68603a55c8388962307a60fc1afd83003760ae13
+size 284364
diff --git a/TASK02_A210041B900443_20260723_050923/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050923/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6213ef6c356f9fc572c19f8b58d5fe1422ffe5e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 529, "chunk_index": 0, "length": 530}
diff --git a/TASK02_A210041B900443_20260723_050923/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050923/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c20524b2519b278218329651903deef1e7633f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 529, "num_frames": 530, "num_steps": 529, "num_samples": 530, "duration_s": 17.663954496383667, "fps": 30.00460627933041, "start_timestamp": 0.0, "end_timestamp": 17.663954496383667, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050923/meta/info.json b/TASK02_A210041B900443_20260723_050923/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..758b3634c12e7029ce10227e37b531a2a1ec9375
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 530,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050923/meta/task_info.json b/TASK02_A210041B900443_20260723_050923/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c048d5f8423a17026acdd7d661d1166c03def45
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1832",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.225164",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050923/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050923/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b61228dc1778806f5f043565f4e7603ca7ba9c7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586ba7cbb9bb60e5df9bcadfe2f087de3c9d7ae5d6f0b5d1a3362d0659b5a4fb
+size 8589903
diff --git a/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01e1a3d077830a39b82a3ac05327cbb5b3de54c6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d34b86b4a6bc394b7aeb035b96875482cc63a00a610f93409ed05f4639afb4
+size 3544615
diff --git a/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b444360113f84e8a48a7a48b2058324d30b005e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3746eaca1a83fedf27276ce5950278d8dff6386a7bb6d30e98a4c891daceb4dc
+size 13003734
diff --git a/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..183339d26257f65f9ae726deb2dfbbfa4e480480
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a6478e43578c954b44f01bb2c64d461796ac53cb474a9a46be83c6dc87e593
+size 13336415
diff --git a/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b58a8b24733ea18e2aebff9060b2128cbd9dffba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050923/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a637a9f75f5441a153f795fb1959e5adf637fb9afdbec7a92cacf121695bb3
+size 762780
diff --git a/TASK02_A210041B900443_20260723_050944/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_050944/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..047f7100cf37f431d8dea6d2167e336bf87dc988
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683018ab3c37f8e9acd0048f40869f4c3fd0003af9cc98118fac31f47f231534
+size 268066
diff --git a/TASK02_A210041B900443_20260723_050944/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_050944/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ef8da30fd13c4f0e6af14aaeafbafff63d1f7d2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 500, "chunk_index": 0, "length": 501}
diff --git a/TASK02_A210041B900443_20260723_050944/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_050944/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af79ac1e955513a05a8b50e2fde225f6c165f5f8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 500, "num_frames": 501, "num_steps": 500, "num_samples": 501, "duration_s": 16.669382095336914, "fps": 30.055103250656757, "start_timestamp": 0.0, "end_timestamp": 16.669382095336914, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_050944/meta/info.json b/TASK02_A210041B900443_20260723_050944/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2703c4bf0ef348bfaeac0556dd246b9619878d84
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 501,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_050944/meta/task_info.json b/TASK02_A210041B900443_20260723_050944/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a47fd578e80a394a6c9f973c2caa9280c46d1df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1833",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:55.001466",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_050944/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_050944/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f95d224ee865e9600ea273fb15fc0787cef63fc9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91d90c3bb81dff82a92dfda8d091df4af24acded340b0d69f073fb3ed08bd08
+size 8049599
diff --git a/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad1ee659ca15805ea861453733b1609a6ee74dde
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:817054ec10d61d06096e0db3694cdaba5feebbd3d7967ea105d7afe3105cf127
+size 3488520
diff --git a/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68af0d8dba2da52461d4409f7b45a3705cc0a113
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eda0a7337d71ece5c88e995b19a0f3cd85796bf1dd70b21b47a6b69bd1c8efa
+size 12201018
diff --git a/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9bb2b2c42748f99810340992a1f0d931670db1c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67dff7a4eab654bfd022e62ae448dcfcb5bc4f726bbe53b5ba369bb9ee59199c
+size 11902727
diff --git a/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57005304fa6c6fb79914b5120d612f50160cf9ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_050944/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8190830b602a8e71b437bf15656aac66951a283ce644b231bdebbba476198203
+size 719528
diff --git a/TASK02_A210041B900443_20260723_051003/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051003/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..840409684c9cad8fad2f46acd9399de17b434576
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02ce8c94a5528b005939d5055d6523309b73f42ec2dd8ea40c279643de37866
+size 312291
diff --git a/TASK02_A210041B900443_20260723_051003/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051003/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0fc4a31371c4176a807dbcfb344d3d873fc52c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 610, "chunk_index": 0, "length": 611}
diff --git a/TASK02_A210041B900443_20260723_051003/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051003/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05b07654ad07bf0bf1bbb5f51982892905721adc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 610, "num_frames": 611, "num_steps": 610, "num_samples": 611, "duration_s": 20.360846757888794, "fps": 30.008575147458863, "start_timestamp": 0.0, "end_timestamp": 20.360846757888794, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051003/meta/info.json b/TASK02_A210041B900443_20260723_051003/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..234b1054df596a74f59e372f7cf3fe6874aaea94
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 611,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051003/meta/task_info.json b/TASK02_A210041B900443_20260723_051003/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e61d579ae4e343633ea09ec3b01d3965fa43433e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1834",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:54.743472",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051003/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051003/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e392c3e725d42762afa79f899cd97e137bb8a49
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca7c627b4702e187ca03f4160342f303e86ccbc5faec213f79172f5cdf5963c0
+size 10558221
diff --git a/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..594933a72c54e9b058c33a6e86faf290c0cd0019
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606a552d2cf274f7c0b6b153ac8083fa3ab4efe30e68334d80f3adf294a78a8b
+size 3953756
diff --git a/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d8a09ef678d20bef58aaf9de8a77a3310e37adb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4318a3f23dbdd84f2ce9242dc1b388221008f6c4864cbe8995ff93518a7b03f9
+size 15796475
diff --git a/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88695d39d7279127d7240ac808846598af9c6ddd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b9110f4272f14f7977870c98a5e9a66fd57111e3dc29e6d6c217801c9f396b
+size 13661199
diff --git a/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0c2d7fad96fda4f6bf6146fcbca76f1f03ed0da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051003/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8be706e70d308619fa0b69526deb55d139fa5a0b0422c1116c57af5d465fa8c
+size 809684
diff --git a/TASK02_A210041B900443_20260723_051026/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051026/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..227b17cd694ad12722715b9ade5f3eb3f8acace1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39dde5ac829f11f45afd7c592da50a836f001b47faa35c362203fe286cbafbf
+size 241584
diff --git a/TASK02_A210041B900443_20260723_051026/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051026/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..834006a5c67f27a8dd8c80852028ccd6dd9c621d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 462, "chunk_index": 0, "length": 463}
diff --git a/TASK02_A210041B900443_20260723_051026/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051026/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5767b55973b19f175621bb34bd4a603ff04d098f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 462, "num_frames": 463, "num_steps": 462, "num_samples": 463, "duration_s": 15.405132293701172, "fps": 30.054918787637465, "start_timestamp": 0.0, "end_timestamp": 15.405132293701172, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051026/meta/info.json b/TASK02_A210041B900443_20260723_051026/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..809a223382b82fc6f4c2a4f23facfdf68ae19e3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 463,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051026/meta/task_info.json b/TASK02_A210041B900443_20260723_051026/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..89cc19b7d4ce2ab1adc6ec491c0f8ff44666cd3c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1835",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:54.600073",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051026/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051026/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc8fabfc3637396232e8e7b753f8a42a996656f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd52e78b12387ac46b495aae97359ef9bd5f06e0ce24f52c74840fb3852ccfd
+size 6793965
diff --git a/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1514b5a69ea442b19e78696c3c49fb617d32d330
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4fdaf8c8e4d1a6871b49d3b7f5182c7c81f66c9016e1d6cf382383cf059b49a
+size 2960799
diff --git a/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccc04465d0f4ee23fd49343351be419a7906778d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68613f38ef9c3497e219528e5408cc711b4da5fc7d54409db87ed0c8b947501c
+size 11128799
diff --git a/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53cd102f87bbdaa130f6c0de649d51d12a8a9d36
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb480ec432759b70973b3602beae012f636004a7f7e4fb6121795fdee2dfc15
+size 11658103
diff --git a/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9cc2be6a100eca1039e75f9844a253b40570ee2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051026/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2371946345bfc3089b52343897573fc4c634d9d0ecd3086b17ca81442fd49bcc
+size 697738
diff --git a/TASK02_A210041B900443_20260723_051045/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051045/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a7c82ddea544ead187681937b38bf667c2aea9a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322279923de6efd2ad33f91a140b31ad25875bc66e3304ff51027ba4223f5343
+size 282691
diff --git a/TASK02_A210041B900443_20260723_051045/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051045/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57d322984e071f168bc292719346905f2e28e717
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 532, "chunk_index": 0, "length": 533}
diff --git a/TASK02_A210041B900443_20260723_051045/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051045/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf6fe851ca1a7816f8168d5bc3c43426c0daf5a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 532, "num_frames": 533, "num_steps": 532, "num_samples": 533, "duration_s": 17.766558170318604, "fps": 30.000183203207435, "start_timestamp": 0.0, "end_timestamp": 17.766558170318604, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051045/meta/info.json b/TASK02_A210041B900443_20260723_051045/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8414af98e726dc0b70a48d36d3d2587834adaa57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 533,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051045/meta/task_info.json b/TASK02_A210041B900443_20260723_051045/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1865935638212fff1206d7d2ce5087898a28ce86
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1836",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:54.413141",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051045/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051045/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88a772f77729a99794e5009ddd89319d544b981d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a797c15771dab20bedc1181ceec2aeb4ac6ab9d416570fa781c5481bdc862c0d
+size 9052432
diff --git a/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b7dd8d58e973a3217a5f84a884a05e8969236d0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eed72a972449d8d3cf420123b65901cc373a86a83edb181f5519bcdc4542dea
+size 2982671
diff --git a/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..073c6289c702903c872a5c3558271bf17da7e736
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590559217e2acc043e8e6973a8d3c8932d6f1af73ad5e974448e2d82e4400584
+size 13834095
diff --git a/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b140595de208c88c2714b6de69a0964fc17f8bae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d25afda151e8333b963fc3d65090ab219796b2c32436e626d7180205c99acd6
+size 13292119
diff --git a/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b24faa077449ec900391e7a4cd08b6bed6a0dcb1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db486be68b4d878768df9a2b4b58d3a0984bf9887051b9bf99da9d651d568397
+size 844805
diff --git a/TASK02_A210041B900443_20260723_051106/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051106/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6d9b2730db373b4310e0761e73e48f6c9845f3e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d0c40237f3698dfefafb558293c5276e3c7c18489d2776823fe21e70e72ff16
+size 231499
diff --git a/TASK02_A210041B900443_20260723_051106/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051106/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f50ba7b12be400100b8f419dc12804d52e29eb1e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 430, "chunk_index": 0, "length": 431}
diff --git a/TASK02_A210041B900443_20260723_051106/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051106/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff02bd7a83a66dad85f5523b9ada2e9c9005362d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 430, "num_frames": 431, "num_steps": 430, "num_samples": 431, "duration_s": 14.342516422271729, "fps": 30.050514659388718, "start_timestamp": 0.0, "end_timestamp": 14.342516422271729, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051106/meta/info.json b/TASK02_A210041B900443_20260723_051106/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1b46e20004da181f0a24be38bef846524f24b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 431,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051106/meta/task_info.json b/TASK02_A210041B900443_20260723_051106/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bed36df4256c43dd618f9ce877afa9f0e891f9d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1837",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:53.964214",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051106/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051106/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..807ce825350b59269dccfb63e9c95fba2459941b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2377061c98f907d579e2134f25b7466d5e17293acf2f3ff99cb7e6c0c0e8676a
+size 6270101
diff --git a/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb3ce6fea5996141b77fe27af2f928525ecb8fdd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346ae4c35bf2bfe06aa79375223684fab131f38446626cd340ee266ba49eda77
+size 2606874
diff --git a/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79b93d5c348440a3eed0fbbcdf93cd8e112aa743
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c41385fb50cbfff2a9ab17b2a0f7f20675eac21271cb345f5e1394a64a61f4a
+size 10901863
diff --git a/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5e60e6af5d293f5e39ad7f530b0a508cff831d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad30815b4460ffc50cce6b7d106a4bb979184592e27d95573d4e0625696812e4
+size 10408113
diff --git a/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01401969d6350051d93b73d0056e0286a946468a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051106/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb04b5970225ab83a1d60c4552f1a3cc517f4c40bad0225ab6c1301eacf2c59
+size 688494
diff --git a/TASK02_A210041B900443_20260723_051123/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051123/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d638934d410ebed33a367a5eed336f49e1d2fb19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cb22d0311decb1f04a6f994372758a1085b285a6209a07b089a0dade084795
+size 295116
diff --git a/TASK02_A210041B900443_20260723_051123/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051123/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..149b392598c228f6f5112f87846d8769a7ec14b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 534, "chunk_index": 0, "length": 535}
diff --git a/TASK02_A210041B900443_20260723_051123/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051123/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..267b7a8e2dba54a234899d7f50d6c9c188218ffb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 534, "num_frames": 535, "num_steps": 534, "num_samples": 535, "duration_s": 17.800286769866943, "fps": 30.05569555798786, "start_timestamp": 0.0, "end_timestamp": 17.800286769866943, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051123/meta/info.json b/TASK02_A210041B900443_20260723_051123/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..428eb02deb00f87c86f3d36141f40110945a1012
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 535,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051123/meta/task_info.json b/TASK02_A210041B900443_20260723_051123/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7162dc6e3b64479f7700c57ab6f49383742e9cc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1838",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:53.828673",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051123/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051123/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4569176695705208d94adb9050d80b940186c57f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6424118ac23a8ab4ff03e4d7e3fa3562495b81289e7e49b18c1957c80d415781
+size 8626860
diff --git a/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cda725bef76ffcb64bec70cc82cefe4ec5b921b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f842bb68ce12c27c02ad61c8a2b9ae83a7bf394324bbcd217d89c967ebf6452
+size 3436547
diff --git a/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34d2176908afd90867be8d9197087564c845e416
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8998fbc7769c134a60de52e41e9fa5eaff7aeb3d38c8697992268d1cea07e43
+size 12931950
diff --git a/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51094e6ea713dd6cc228843a33a2420897052fc0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12209727ffb422cd7494e04d5935b2c1292b3848b21848e4719432bc43006727
+size 13049174
diff --git a/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adbb712487a611a3f45cbbe52bfb936f36d1fde8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0d1bbbaeb73fbb90567891b945740684fa0894d3fb268c01944d1853709be9
+size 756767
diff --git a/TASK02_A210041B900443_20260723_051144/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051144/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f379f6342207ba84adc16a85d19c04ab5139155e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d435cb7e21ee1162f413d9d7147c1e25e1522d07234825e98617cf1f2877f04
+size 301033
diff --git a/TASK02_A210041B900443_20260723_051144/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051144/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d37493b0a7271a119b1db3374a5808d7ebeedc48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 577, "chunk_index": 0, "length": 578}
diff --git a/TASK02_A210041B900443_20260723_051144/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051144/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..203d1ff9c72e78ba71f597337d034190f5bf291d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 577, "num_frames": 578, "num_steps": 577, "num_samples": 578, "duration_s": 19.23598027229309, "fps": 30.047857806993765, "start_timestamp": 0.0, "end_timestamp": 19.23598027229309, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051144/meta/info.json b/TASK02_A210041B900443_20260723_051144/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94af426198379dd29e948ff61eb57b24bfca60d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 578,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051144/meta/task_info.json b/TASK02_A210041B900443_20260723_051144/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb8c8f1fdc963a22fde697d1d30d6f79ce3743f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1839",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:53.621974",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051144/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051144/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a7baaa8defd3893c73aa14b61f32388934976f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ebd124435c96333e40b9f395a43d9653dd169c2782c0956e71619b620fd95f3
+size 8818870
diff --git a/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a972da16b1ccec0241ef7b05e16e0a60f7efe493
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ad569692e1b81e64499a9c11e64ea707e2fdf739fb55472a65ce29720721bc
+size 4195488
diff --git a/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dc2c14422442aaf8f7ed044a7b1bd9e3f935d56
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeaba604e4838b1ed3e71ac929cd1c3e43ad18f26c11bf26f9ab1d82e9179990
+size 14136311
diff --git a/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..891f479bf20bd9b0dbea2d3ede2dfc960213d41f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17320c5293cedcad5f784e19516bad3216797ad34831f9438ce1e04bd445d17a
+size 14161256
diff --git a/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6175337b0567ee8c09f9ef52eefbebffcf3696d9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051144/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d027a7fd36b7f8ccd081be7219fd5289d8da5e107ce46bc2e953ad1580cfd0cc
+size 942852
diff --git a/TASK02_A210041B900443_20260723_051206/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051206/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ce77bbbda5526bffd1570f493f449a925cf9622b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60be56be754ca1655e4c32e3f33454174888307c0d8e309b2edf16e46aa2046a
+size 337615
diff --git a/TASK02_A210041B900443_20260723_051206/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051206/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9a1e77ae2c780fab75537f462a0ca2b671bb02
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 634, "chunk_index": 0, "length": 635}
diff --git a/TASK02_A210041B900443_20260723_051206/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051206/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..353648358451ad332f2373013d363d8eb097ee3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 634, "num_frames": 635, "num_steps": 634, "num_samples": 635, "duration_s": 21.161693572998047, "fps": 30.00705013563985, "start_timestamp": 0.0, "end_timestamp": 21.161693572998047, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051206/meta/info.json b/TASK02_A210041B900443_20260723_051206/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95111487dca0ed8df6acff0c349f27b8032502d0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 635,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051206/meta/task_info.json b/TASK02_A210041B900443_20260723_051206/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5103af949d64019177d8a4006757477ea2ba32
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1840",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:53.484966",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051206/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051206/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..108c1c02cf22c62e63e190cf541805d86dee34c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15cf497e1e128adf92d88c1287d3d2466192a3928dcef6cca2b44d0961d352ff
+size 10581192
diff --git a/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c43487aa2d980740b52749faefd9be9ce674005
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f301c24e7b358da94203e0fc00e2c8fd16f147c9b4ac0f5e47b3665c755548
+size 3149293
diff --git a/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..119bcb74e6d98f2c35bc68400ee104a0990bce68
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ef0704d9d2c3c89908949fa27e088b03882c6489608f88e9ba75a7eb549316
+size 15264089
diff --git a/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3db46980246df124464147989dda7729439e9027
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16eb01add29a764448d8641e49ddee0c4cb5d771944c217d071aa8ce7352e1c1
+size 14716117
diff --git a/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..001f4ce83c2cf6d02b645634d639c1e9ed4dcfe2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051206/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6537f8b3a2ae0f9cb29ef53411d117077368ed6fa1ce9710cc398473a5cfdb
+size 788684
diff --git a/TASK02_A210041B900443_20260723_051230/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051230/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..45946e903d9412597992323e54dce07b955132bd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f01950a203859d169b9af4dc71d0e3e0ebe2649b2738bcbdb8add730b66827
+size 349434
diff --git a/TASK02_A210041B900443_20260723_051230/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051230/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5911d2e36d1016e8620e7e198970a94d186d35aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 650, "chunk_index": 0, "length": 651}
diff --git a/TASK02_A210041B900443_20260723_051230/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051230/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e9063343f344ff08259b4f9f78f3c40a7cf80ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 650, "num_frames": 651, "num_steps": 650, "num_samples": 651, "duration_s": 21.68488883972168, "fps": 30.020905562933724, "start_timestamp": 0.0, "end_timestamp": 21.68488883972168, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051230/meta/info.json b/TASK02_A210041B900443_20260723_051230/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4c16568e95fe9a81ec3b9d1100e854d8b8fb93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 651,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051230/meta/task_info.json b/TASK02_A210041B900443_20260723_051230/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..810e45a2f9340a61c155a332a1d8c22b04b23e1c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1841",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:53.118173",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051230/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051230/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b89933d539b747eed1773a0583198ec3584090a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a681f493510c1836dd2af0bffff5286652a83e84253242ed191b23569873e0fb
+size 10401843
diff --git a/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ee1028fef6fed4d9ae2d0ebecc8f7bacd77ffa3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b3c9aded9ec1533aae21c8be2bb81c7527592dc30287d102795f7026544f19
+size 4707276
diff --git a/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35eb50211ca39fd38e1ffed1f3677081ff757b0a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cae9af3aed595dbe612d8eb18c62032946725e9a03c654dcf67a4769ec5817
+size 16249150
diff --git a/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c01e4bbd73017da961494524e6d24978f98618de
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588e5ebfc18d4de27d55d657547925cc39efd89fc0059663fdb15d13d7da5bd0
+size 16269553
diff --git a/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21f23cf755bb8a9510a20540087a9f7afc68a574
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051230/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e515d9ab50bed9e45201c6ae5a9ba1db980532a4068ba0620463fb280f272a75
+size 946355
diff --git a/TASK02_A210041B900443_20260723_051403/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051403/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4bc3e5ecc4966eba25f8a9a351b17103ebf4ea73
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418b1f794ed39e5e70c77fc18c51b828fb4561b45dcb9317e8fc2eeab33d723b
+size 315840
diff --git a/TASK02_A210041B900443_20260723_051403/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051403/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cef4855c32721ffeffae7a45285a5b1d545ae377
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 682, "chunk_index": 0, "length": 683}
diff --git a/TASK02_A210041B900443_20260723_051403/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051403/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b93d39320e0feb9760321444c934d1aee8c9ced
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 682, "num_frames": 683, "num_steps": 682, "num_samples": 683, "duration_s": 22.757816791534424, "fps": 30.011666156573774, "start_timestamp": 0.0, "end_timestamp": 22.757816791534424, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051403/meta/info.json b/TASK02_A210041B900443_20260723_051403/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7045d2bef02105b6394ecde5562d875000c9bf8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 683,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051403/meta/task_info.json b/TASK02_A210041B900443_20260723_051403/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..571115f40e6dc990a95824a35d945d4934083c8c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1842",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:52.749444",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051403/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051403/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9066a1f928c7c317e82ecba4731b06dafe93f201
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60832b46a3da9371831fa090351645c6f4b0146f3c4d47968efe60007243978
+size 11287896
diff --git a/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e34bdddf25769844dde197da61f67f31ef727e04
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041fcde7140f3e9a7c5ff3624d4eda70b9adb1d93023b5d8ffa4340bab92a14c
+size 5284467
diff --git a/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e855fc92ac3e2ffbfa51c6f5bf11754e377f2a98
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b247d1f22bc2c705b3701f546f639b18e4b7290a89a83bc1287fcdc0480d7dad
+size 14095779
diff --git a/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66be569f481793dde238c8b4e7f74fe6cc51e3a2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c942f95439fc241fbf57b6c89f1b8e896fc7f5093fcc78be4950dacc96ce43e8
+size 17451526
diff --git a/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8897a201247b6987ddd6cb172ba46306ecec9811
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051403/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bec303dbdd7d4bad5fffb2aa34f1837a601ff3c43a2025396b81fe2759838c2
+size 1008293
diff --git a/TASK02_A210041B900443_20260723_051428/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051428/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d96daa5ede4136ac9ec150e8bce2366b324ba464
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54a599735abb0f234340f4116ea7aaf115e135f3acf938d102383c9a8ff3725
+size 308412
diff --git a/TASK02_A210041B900443_20260723_051428/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051428/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..494210f40136e385ca47eb8d45acf9e9b384fce4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 580, "chunk_index": 0, "length": 581}
diff --git a/TASK02_A210041B900443_20260723_051428/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051428/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..814a7dfeb2ed868f5b36d53f1665b81bbc42f5e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 580, "num_frames": 581, "num_steps": 580, "num_samples": 581, "duration_s": 19.33509063720703, "fps": 30.04899283388753, "start_timestamp": 0.0, "end_timestamp": 19.33509063720703, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051428/meta/info.json b/TASK02_A210041B900443_20260723_051428/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c89c1d6f84616cd6b1f49cfc505b893719822dc5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 581,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051428/meta/task_info.json b/TASK02_A210041B900443_20260723_051428/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2745fd37591c6409008c1ebeb9611e03470290a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1843",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:52.593458",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051428/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051428/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..712285eba41059a32cac97f7f243aba0bc2ab22e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c701d84de418852a3c7e0c151e7f84c1de7ddd68bb4466ae0c81fd0a6bbe5e3
+size 8064723
diff --git a/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f80fbc8c4d523c75c7206a1abf46ea372def14a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fbdcba255e9260266ba9ddd81d810b4dc4fe30b0346713b3ec6f6d9d10ce16
+size 3155207
diff --git a/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42bf7271cbc184fbd794151113319a07bf9a8f48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7f261b6ad420a3ddc5b547dafcc8b797b63ad6b4bafd2d95224604d0edcd2f
+size 11928432
diff --git a/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b53c9e66c3c9ad228a87124f745acc4c7b6802f9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f9d7c898d3d1a27a15761b6364b52170eda4d60cd5eb72db9629264100133f
+size 12190593
diff --git a/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..695792f3d5c891f6d1dbe2f2063a1b8783c8987a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:375c6a6648b3625ff79b16f5869e41ee603288d8a61ef2a1b9b825053efc32ad
+size 713211
diff --git a/TASK02_A210041B900443_20260723_051450/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051450/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d752a3cab9a937878f16286381d28d0648b37689
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2049019935c17ce9f91363364ec7d63195c0361debcf73bdae4222bdbe7d6c
+size 338777
diff --git a/TASK02_A210041B900443_20260723_051450/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051450/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54ee393451daa1ff0085ef08629cb8e133f4ef48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 685, "chunk_index": 0, "length": 686}
diff --git a/TASK02_A210041B900443_20260723_051450/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051450/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00e2bd3dc15b997526d60203a351fff9fcf92dac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 685, "num_frames": 686, "num_steps": 685, "num_samples": 686, "duration_s": 22.837855100631714, "fps": 30.037847117307646, "start_timestamp": 0.0, "end_timestamp": 22.837855100631714, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051450/meta/info.json b/TASK02_A210041B900443_20260723_051450/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af6156db3039aa11e75142164ed4372d1754991
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 686,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051450/meta/task_info.json b/TASK02_A210041B900443_20260723_051450/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..39cdc1faa32c89ec48f0b8657f6293eadcdbf4f7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1844",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:52.438936",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051450/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051450/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd7c8ac325f77d447391c2ad80810cdfb4500d10
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a79689c16ddfcd76327eb57deb3f6bb3d9bc7cd4ade66560f315219e2da905e4
+size 11775898
diff --git a/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f492bd7a8d5a216b14c417c8f633efd746cf8ef2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32a5e872ff65cee1501792de22a450aadbd52f9099c09b6ad08d964cbf2b3846
+size 4874575
diff --git a/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..375877c746f12a131bc3d8020d5f7914f94c9c8a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:274137a0284eacef61d58499bf53fcc3dcbcbf4de725e9a6ba50f47730849f88
+size 17369724
diff --git a/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ae90122b96e95c8aaff15a9ccf1d1f8110d93cb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3fe0918c0e7cb1a54b7ceb7541123a7cabe2147f7b60ad58f27caac5547031
+size 17580858
diff --git a/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32882e14b0813a010333585c38499b2819c0c8ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051450/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e974e45677001a45d27f3fa1c455dce43fb84da0caf893804c22e7016bb29ac
+size 1025853
diff --git a/TASK02_A210041B900443_20260723_051538/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051538/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..777367d343c7751ce6436d748ff70e4590c19b38
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e539680c79a48f1973c5c0705c89cd0a80a263fa479aeb3a411c948124c09716
+size 314212
diff --git a/TASK02_A210041B900443_20260723_051538/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051538/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8296c7bd5a206edb55d75e3aa7a5af91b5dc37f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 617, "chunk_index": 0, "length": 618}
diff --git a/TASK02_A210041B900443_20260723_051538/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051538/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c58414154487ac8c5249634bd0d1a4c84694c3e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 617, "num_frames": 618, "num_steps": 617, "num_samples": 618, "duration_s": 20.570476055145264, "fps": 30.04305774661061, "start_timestamp": 0.0, "end_timestamp": 20.570476055145264, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051538/meta/info.json b/TASK02_A210041B900443_20260723_051538/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f57ee32b818434cd97d270bf20fa5ebde68018
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 618,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051538/meta/task_info.json b/TASK02_A210041B900443_20260723_051538/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c30e80db0b30e5f2795858edcfa390a026b54fbd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1846",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:52.266395",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051538/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051538/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0110f444beade8cad0b0bc71d8df299ded7b24bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:692fd760996be854c4ccf4b46416c7b11769628384770223072e65a4d4552b67
+size 9827261
diff --git a/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a96dd2d96ff1435de134154048f8ab79b8f9f14c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e438d829b838e6f13bc938d1aba15b3ad20bb1d6d47b33c63ec91279bdfc538f
+size 4091369
diff --git a/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17493e7be6c8e8e387a95cf035e8893611d275ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfaad952444158e9ca4bf2964264abe0be9cceb042a4dfa00be72ec11d3fe8de
+size 14679349
diff --git a/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6de9d4390d72de8cd1740e6d6cdd38531848cefd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9b416e9c4c13199a36e8240af57905b17092ca3ddc42af269361e51223d4ec
+size 15186871
diff --git a/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..088294b5d5730f127d6531c94b6c45f96bfdb69d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051538/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5355571aff292f619045d6a5117c3f8246f003904f59b96713ade4a76af5929
+size 953470
diff --git a/TASK02_A210041B900443_20260723_051602/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_051602/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..14c559b2fc3dd4a2c17c8f4318a0a2ab31e07080
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083f45ff98b67cf6689772580d644724fc0fdd7920b492e3a281bb1ec3991b27
+size 275223
diff --git a/TASK02_A210041B900443_20260723_051602/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_051602/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5369aac5f6b05a8edd654cd0be85a8a591d1f798
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 515, "chunk_index": 0, "length": 516}
diff --git a/TASK02_A210041B900443_20260723_051602/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_051602/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd98bbeb8bfb349c5cb67c25b25facaf246ac136
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 515, "num_frames": 516, "num_steps": 515, "num_samples": 516, "duration_s": 17.181790351867676, "fps": 30.031794675221978, "start_timestamp": 0.0, "end_timestamp": 17.181790351867676, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_051602/meta/info.json b/TASK02_A210041B900443_20260723_051602/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c618c3e7b4917b33ab840042e7e19cd4868101
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 516,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_051602/meta/task_info.json b/TASK02_A210041B900443_20260723_051602/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..03010008387fed364482dff588902a6007546061
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1847",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:51.878409",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_051602/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_051602/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ce11784fb461c14fa5873c0c8fa47fa2adaac82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c769c4cea8973ec9404e4fd3b2efc3dd20ad56319477d0b2c051ebf135e7d2e1
+size 7583060
diff --git a/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e37fc84c6b5707d5ab34116533cee672ec1f19f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d55bd1d5b64150fc73c2a4b21a117a330b24194c27b9cced93c771c4d240d9
+size 3590844
diff --git a/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54c8dd01f1e8f0df5457f1b6b6aa9b564048ea4d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3a0c5f60605269e33124a4fb8fffe90e693b32cd6112d6838672d028d6c81b
+size 11075559
diff --git a/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06a2c6cbb1180f0d6bde74071788b7e3c5d83694
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d18308222c73e44390d28a3d7b2ae20ab52e738525a693745b528b385262ed8
+size 12740233
diff --git a/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aeff09e9dbeb4218cf89066df48affa70fc96573
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_051602/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9165b204f0209052080cfbb3d6e4087568acf0d4861548d6bfe535ad0546ca
+size 835654
diff --git a/TASK02_A210041B900443_20260723_052010/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052010/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..92da1122ba981bf18b3a2c55b9021786157643ad
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2201423343ca916555d32999c0cf43875e9874623ffb2255e7a2be46ef8fff
+size 335589
diff --git a/TASK02_A210041B900443_20260723_052010/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052010/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad7e42cfcc41832063c9e4ed9c15d388c721be40
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 659, "chunk_index": 0, "length": 660}
diff --git a/TASK02_A210041B900443_20260723_052010/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052010/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6db9b7240fb15e7d5a5f7786679c13839b94c999
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 659, "num_frames": 660, "num_steps": 659, "num_samples": 660, "duration_s": 21.974146604537964, "fps": 30.035296108550625, "start_timestamp": 0.0, "end_timestamp": 21.974146604537964, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052010/meta/info.json b/TASK02_A210041B900443_20260723_052010/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..99c1cc64c4e4a30bbd78c404361a897d86325756
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 660,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052010/meta/task_info.json b/TASK02_A210041B900443_20260723_052010/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5dd25791ea08df5c376300ca97ac8fc6b21f68
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1848",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:51.675648",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052010/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052010/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4511edfd1002523fd6ca972b0ce9625293b6dbb0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ae92a2c2e2588e54e7ecb42dd8e0912836bb15a63f7c02a915ae7766c4803a
+size 11053334
diff --git a/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..545bdfc526bcde7237e352666bfc99b139b36697
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8463ecc24b4e00e0253fd7922456a2e24102083089f0aff5ebab4181256e8620
+size 4453455
diff --git a/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a98aa7832a983f0b3fe7aacf99b7c62f8ce5146
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e558ba3e86532a8413f69d74f5ee8f5fbd590506d5566a102603425239bec5
+size 14578410
diff --git a/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70c050432662b74c6a4a94677cd19b805746264d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbcf5009712f2af06e8c8d42ca99ae090a14de88ef0dd92665d16b0fa290acda
+size 15399063
diff --git a/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84f5574e4032e803d693e70b903c11979b27e467
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052010/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1e48bab23be09d24c943b846e65746e17a79a68b9a58a1fb10ab76bbaa30a7
+size 855700
diff --git a/TASK02_A210041B900443_20260723_052056/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052056/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9b790a35b92c238e6cb63fbe5678b406b95fb7e2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e82007f2b25d1bd2e6ab689ef7e2273b624768030bf15a347ea7724a2ce3dfc
+size 251278
diff --git a/TASK02_A210041B900443_20260723_052056/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052056/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d011e8bdebd6ce5458b61ac09a4ef0c38db55bd9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 471, "chunk_index": 0, "length": 472}
diff --git a/TASK02_A210041B900443_20260723_052056/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052056/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6fb3ab96813cd252434dc93fad2cfb8b04520d6a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 471, "num_frames": 472, "num_steps": 471, "num_samples": 472, "duration_s": 15.716110467910767, "fps": 30.032876198200057, "start_timestamp": 0.0, "end_timestamp": 15.716110467910767, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052056/meta/info.json b/TASK02_A210041B900443_20260723_052056/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e54b2d9cf99c2d917b09c531aa3fa4ed44483ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 472,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052056/meta/task_info.json b/TASK02_A210041B900443_20260723_052056/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5846b31b9f4bb74f347713dafc125a08624419
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1849",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:51.489681",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052056/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052056/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2c7494c240e8d8cd073919cfd0b97bcaf6ae092
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da203fc424969bc3f25b9622f3fd3cfe08e7ac00838089b1e928b28306725937
+size 6889303
diff --git a/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60813eccbb1f9bcc9c63084b41823ff7347ad89b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90dfcec040207c9452f9cff10153a6e02be1685e29981afee38578624f2e5399
+size 3446140
diff --git a/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b34b9fc330ada9c67a8d985ee32b5673cc0dcad7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadd739b5fa22c2da23f9637c082d7bcf8fa693b47dd687e38a13541df62c676
+size 9976189
diff --git a/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65137ed06d054f6c8c210c6baa631c728201c34d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27d8d3913cb907d41e3cdf42871a77c57477f59e599d9c71ebb60382fbafb90b
+size 13153042
diff --git a/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578a7e2cd5ecf6bab2e4c004f67aeb3d10a1fa82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42de1b5175e71e8b3fa78f2f690506f9db733b048ba11d63f969554592b2f910
+size 745334
diff --git a/TASK02_A210041B900443_20260723_052115/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052115/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5fd3b25af84d35fa2ff671d8aa421279bbfee936
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8277e1da4ffd76ebeacefc98237372601427de4fabbbaab1f81cb199777a2222
+size 287291
diff --git a/TASK02_A210041B900443_20260723_052115/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052115/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b42cbe07430d1901a8c9712adc5a06677e7de9d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 533, "chunk_index": 0, "length": 534}
diff --git a/TASK02_A210041B900443_20260723_052115/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052115/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdd89f04a38063fa11c0aa4debc579af29e0e327
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 533, "num_frames": 534, "num_steps": 533, "num_samples": 534, "duration_s": 17.77472186088562, "fps": 30.042664193530936, "start_timestamp": 0.0, "end_timestamp": 17.77472186088562, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052115/meta/info.json b/TASK02_A210041B900443_20260723_052115/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..38de552e2a216fbe9e7309a30c427e6cd9c888e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 534,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052115/meta/task_info.json b/TASK02_A210041B900443_20260723_052115/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7830930ff22f53ec53dbabed74c39b467abd9ba8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1850",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:51.322006",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052115/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052115/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42c887cdff4e813c47531b03de4c984e581eeb6f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0686669a731e9f40d53b1e1318d71a26f3c036171d42ee243ed51db6a51ef5d9
+size 8561865
diff --git a/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c61eb6b1ca298b9fecf4c1ac125b8ffbd8b25f4a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f7ace1548e56f899248788d39447a073c5e1afb99dcbd46b95b5d5bc95ea35b
+size 3370854
diff --git a/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd8f9a6b8e0eebfbaf3eff3a8769c7f8929ea438
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db8cca81aad6469b725835b544bcf3f9e4d397bbd7bd3e98c29871d835546f7
+size 13292074
diff --git a/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e4e2707f89786aa1ebc5374cb84457b7516037f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f6c8a837d2a56b0767f8ac1222eb666f2c0e230da0bfefd5ecb3509da5e124
+size 14099307
diff --git a/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43f59b9ff536dd52519d02f5be68e1192df3d992
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052115/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0af0d7b4028ee1dadaf09b0140b849e2245c08d8dd46cb7165e040d8dfba57ac
+size 662147
diff --git a/TASK02_A210041B900443_20260723_052157/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052157/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..664a955f56dfd2cb21d65f8a0db93adc17cb8023
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a157d15d4ddfc73ef126e2189b0691e6722117da995a0a088a2318c1ec7026ac
+size 306152
diff --git a/TASK02_A210041B900443_20260723_052157/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052157/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08c36479fb5d87bdc1fdb26c30425fc38c59dd70
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 590, "chunk_index": 0, "length": 591}
diff --git a/TASK02_A210041B900443_20260723_052157/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052157/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..282f79273b987d08b96dcdf910f7d64bcaba4b51
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 590, "num_frames": 591, "num_steps": 590, "num_samples": 591, "duration_s": 19.68444061279297, "fps": 30.023713227385674, "start_timestamp": 0.0, "end_timestamp": 19.68444061279297, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052157/meta/info.json b/TASK02_A210041B900443_20260723_052157/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc006dfc9629968e7bb126df08d0bd38da0615cb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 591,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052157/meta/task_info.json b/TASK02_A210041B900443_20260723_052157/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..093a0440d157f7f640f4df7dbca98a156ed31bf0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1851",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:50.901610",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052157/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052157/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3b19b19e473b0eebbadee9514341de4455ea739
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e386a0da48c32e9461cb46ce1a8fdd198057d69ca9172182155dec0c332e732e
+size 9446338
diff --git a/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e1a8053fa98c6e0562c477717fef4d94e3dbc01
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ea5c8d76b8732e38d77f0ddb0820ebc870f6c1c8acd7a9c1ad302b9620c6b7
+size 4265122
diff --git a/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a882d3ecb62d21c0132cff794da11db1bfd1e0f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5722c855333e918ea98fb422e2beb6c28d2caee7d2fe8f4eaabe324bd2c760b3
+size 12749170
diff --git a/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b96cb68fea279291bf655d3e0811dbb696ec60b5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f039c1d35fece5ffcae4583937f205e71031027a27fa66f9c45b764e7d60a6
+size 15089326
diff --git a/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74d8dbd146913db6592297412c243348d4eefd80
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052157/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036e070b1013b8914c56dc1dbfea69c67502628e72fd3603b7d8275121b62df4
+size 972675
diff --git a/TASK02_A210041B900443_20260723_052222/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052222/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3c9f4ce076738d1da7a9b9c1f2b4275524a00c95
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ef742cd6f197b060910b78c0014261781d71ec18c87d8a8902827f23499ae4
+size 339874
diff --git a/TASK02_A210041B900443_20260723_052222/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052222/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e8c7907ec3a02073e09d7031a48b8902c67ff27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 618, "chunk_index": 0, "length": 619}
diff --git a/TASK02_A210041B900443_20260723_052222/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052222/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40e9e864a4b0e2d553896e19f000e6d9703b2327
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 618, "num_frames": 619, "num_steps": 618, "num_samples": 619, "duration_s": 20.611087322235107, "fps": 30.032379676167146, "start_timestamp": 0.0, "end_timestamp": 20.611087322235107, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052222/meta/info.json b/TASK02_A210041B900443_20260723_052222/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70de1e77dd67e3500aaf3695389e6f6f2581334
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 619,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052222/meta/task_info.json b/TASK02_A210041B900443_20260723_052222/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d18c27f5b551ad90b23a21a7c88de0bf96a70aa1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1852",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:50.573907",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052222/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052222/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..757fee6b343cf0f4d6972d06b6a3d04a8892ff94
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47185a6f436228dd1827a36937d143a0fc9e639be63fc13138ed26dd0796d204
+size 8665389
diff --git a/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00e88918b968f718f92032435e0be125cdffbda3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893ff463c5dbd1c40de796c9417ce08d20df0509a1843cf6968f1931b4eb3737
+size 3098699
diff --git a/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37f16e1783b7ab393cae1eb6310989769c3bf105
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e3355a7179b9f041919e90db8f1db31e655faad64821ddda215e460dbd56b5
+size 14121936
diff --git a/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4372a867d655d2684602bcb335f712ed1d48fd83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0daa512b5c8c19becafa5bdd3a75337fd17be11e7a05890d3f47fd4268359eac
+size 13882845
diff --git a/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b68b65249c68c7354d53c21ff54808b2b1d65aea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052222/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6766f75e2fa737c8429425a9767faf17d1e160bf12ec5f9e9468b67f3d2734a7
+size 784453
diff --git a/TASK02_A210041B900443_20260723_052248/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052248/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..86bd534def13189df97c58275297d3b42645c7af
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494a88919c9c41ef470a81e7aeced868cfff003e35ade24bf9383e0ca8caed29
+size 289029
diff --git a/TASK02_A210041B900443_20260723_052248/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052248/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57d322984e071f168bc292719346905f2e28e717
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 532, "chunk_index": 0, "length": 533}
diff --git a/TASK02_A210041B900443_20260723_052248/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052248/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6be7e77d9715e8e9bb0020c2138998923950a2b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 532, "num_frames": 533, "num_steps": 532, "num_samples": 533, "duration_s": 17.761226177215576, "fps": 30.009189381515906, "start_timestamp": 0.0, "end_timestamp": 17.761226177215576, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052248/meta/info.json b/TASK02_A210041B900443_20260723_052248/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8414af98e726dc0b70a48d36d3d2587834adaa57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 533,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052248/meta/task_info.json b/TASK02_A210041B900443_20260723_052248/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e5b984c2d776e0746a2e94f2c0958cf0ac759d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1853",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:50.361595",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052248/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052248/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5d50ecdf57c9821ccf153530e6392f759cc829a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a944d64345aef088ad6629242dafc47d4c11d934aaa9463528c6ff793c0a16d4
+size 8442993
diff --git a/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1568df23d1719e9c53b0b87c74b1470d0ca2c90b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474280483e73ef6e19b353d544da61a348d4b55401c23a638324e739b87e3db4
+size 3692060
diff --git a/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ce9138c19f2f8533d074105243ebf0fccb2ac3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f803ad47166dc9e17c01f6a6543ad30d81d4332d23add13aa48711f94eda0f4d
+size 13393559
diff --git a/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..346c734c34128aa1cfe28c8dc123b3987ce3403d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b035ac0103ad992e403e2c7cc27ebc308f87eb3e6e54deb7dd539520926fcf91
+size 13680133
diff --git a/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b988331fe482e4e80dd3b53f8cc4bb80fed881d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052248/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:443f2504d496a83927d7c651d8edb7fb8ea588872b6a7d96496cd885d7c9bb11
+size 931975
diff --git a/TASK02_A210041B900443_20260723_052314/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052314/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a56f5323b41f785e06324daf267ada9d7e8ae24
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0e694088fd4b206be6d910c6c4b78dc823107dd0c882444bc536da3c83f9899
+size 361026
diff --git a/TASK02_A210041B900443_20260723_052314/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052314/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d80f1b0761b30c3b3b6746f9ebd8fb1932391871
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 661, "chunk_index": 0, "length": 662}
diff --git a/TASK02_A210041B900443_20260723_052314/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052314/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..730d6e461f0fd6165ce5134e0535a6c989296652
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 661, "num_frames": 662, "num_steps": 661, "num_samples": 662, "duration_s": 22.04709553718567, "fps": 30.026630894914916, "start_timestamp": 0.0, "end_timestamp": 22.04709553718567, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052314/meta/info.json b/TASK02_A210041B900443_20260723_052314/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f94ed8efcb7012dc15d20f545419ea83d4235e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 662,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052314/meta/task_info.json b/TASK02_A210041B900443_20260723_052314/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4085a1731a2c7541a390ef0a37bf2479f28f05ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1854",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:50.182690",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052314/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052314/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..022422bf822542c6267af1fd5df1a51b65dbeeed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ab09f852089690c9187822076b2b97ee79865dd20c3209684a64c244467789
+size 10619143
diff --git a/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbe8d8c5d16f611057f1993df8f2d73b9ea8ba80
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e3a09bcda4c3800cb0b52bbca4789b7939ffa8f77886dd2b8f939f1afcc3e1
+size 4138734
diff --git a/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3c12a27e40688b28f4309a585627076d4fe16bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bbd08d6ccb47c035a55cf7bf8ef753801389105f384f888c8336d84e4609f7
+size 15260991
diff --git a/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..823a3940518fe2ef4f0adaa2b4dbb31c2176ed41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:291c07d1d3ddf452b30558205bc3023a9717381df862488b7111818c1d0bd891
+size 16315218
diff --git a/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2acc8745b21d8b0a3144ae3807b474df97edc19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052314/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03589dd427e12b83d836a81fb2330de5d16d555dcc91848b788a3df8a34e0c7
+size 865158
diff --git a/TASK02_A210041B900443_20260723_052340/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052340/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7f46fa227129c5cfefef4dcbcdfc8258718f7d61
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef902385c32655bb6a7caa828d2e337e272cfb5d9349fad70ab3df0e32223b8
+size 353968
diff --git a/TASK02_A210041B900443_20260723_052340/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052340/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4434c9f5a16ba48274a9e4546de69207e233f208
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 652, "chunk_index": 0, "length": 653}
diff --git a/TASK02_A210041B900443_20260723_052340/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052340/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af7be38864cf200c0cb7afd971ad53ff6886d83a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 652, "num_frames": 653, "num_steps": 652, "num_samples": 653, "duration_s": 21.765608549118042, "fps": 30.00145842586423, "start_timestamp": 0.0, "end_timestamp": 21.765608549118042, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052340/meta/info.json b/TASK02_A210041B900443_20260723_052340/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6775c3e0b0b43d403f532620750736145a2aede9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 653,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052340/meta/task_info.json b/TASK02_A210041B900443_20260723_052340/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28010524ccd2a6bfcee7176c65c87159ca4b1d9c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1855",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:49.930946",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052340/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052340/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dae822ebfab54ff6e03afb2e05c36ebf69908e4b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1785d49f17e114e74e246597eece6b313e50ff5330e8f8783f6c24e7064515ec
+size 10682337
diff --git a/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a41762314f10ba8ee592a3ec6cfd894aed3350
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef8cf86731a757b1f942dcb279799f4335ec3d5c6396ba856a4481ac9dd2b45
+size 4611432
diff --git a/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fac10089b7fca41d33510ab24dd55fbff83250ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e01b21b68aa8c341aa4d12f0864135f50f7aed149c74d2864a2b77fedf0346
+size 16943386
diff --git a/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f8dc438daa96b93b7ba7596eb2c680b14025b46
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7677db76ac1377373df14d4ba638aa6247bd6320cc377ffd5aac5dcc53e53de8
+size 14975653
diff --git a/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c3b70550c201685bb0cf91c2a1e50c8b91073cf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052340/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dfe8f30b9e723f128d0d1b25e36dc3faa971b86e9b4b64a6d71c21ef80ee85c
+size 985334
diff --git a/TASK02_A210041B900443_20260723_052409/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052409/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ea506987b217521b98eb6a99474fb20ff573aaa6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc26e1b5b320cad077302e1ab591bb1e1930bc64a288c1f1f933faa0c74a176b
+size 360129
diff --git a/TASK02_A210041B900443_20260723_052409/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052409/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b813cf83ad30ca3204f52e8ceb9acf851a92e03c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 676, "chunk_index": 0, "length": 677}
diff --git a/TASK02_A210041B900443_20260723_052409/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052409/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91c70924ba28b31ed9cb3bed7c9aa476d7d7717e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 676, "num_frames": 677, "num_steps": 676, "num_samples": 677, "duration_s": 22.554242372512817, "fps": 30.016525885394834, "start_timestamp": 0.0, "end_timestamp": 22.554242372512817, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052409/meta/info.json b/TASK02_A210041B900443_20260723_052409/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..879d3447e5ff7ea37285cfbf8beeb99461e022e7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 677,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052409/meta/task_info.json b/TASK02_A210041B900443_20260723_052409/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..53dd295462016d2b00eea7b9fff51e941808eae7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1856",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:49.649953",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052409/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052409/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd40d682c179e242e7a5a049336b1d6716b89ad0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9e19c2055a1ac99e31ea1d3ec6a96566729425dde68f8641953c40e9f52673
+size 10535671
diff --git a/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eac53732ab41c0f13933f3392d8643460891287f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2538fbc705b0db87a890a28000a7c00625784895ec8d742456f5c8e8b32c192
+size 4700248
diff --git a/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77f5a4e3f6711fac7d1b74c1b04335f3918f9523
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29b8cfd4e3147523122410f60f84eb2e5c72f23bd688798b4f71f157946668a
+size 14915338
diff --git a/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..146fd229286106713a5d416215412e8c5d4bdcf3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8201c9ed27952a66fc7ca39f8405c965d9a958d6cdf631f0dca2053586e423e8
+size 14810353
diff --git a/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3006adb0fd42065ceea6dd00c98c769e2a4a39d3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052409/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf1f9c7e24f72c6772214d8626071d6b3a98e4614ebcf26881650b7f898decb
+size 935125
diff --git a/TASK02_A210041B900443_20260723_052435/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052435/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..73c07c45e57d6585a69db8219474df095dabea85
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38604835a5939709f50948e1f40f9c62ff8dbb2606053e888a8ddc643e5401a4
+size 316916
diff --git a/TASK02_A210041B900443_20260723_052435/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052435/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03dd402329fe9f1cbeb2c2b52f6985c51684e197
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 599, "chunk_index": 0, "length": 600}
diff --git a/TASK02_A210041B900443_20260723_052435/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052435/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d0eabf3427e2adbefe6150a7db9e02347ea9a71
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 599, "num_frames": 600, "num_steps": 599, "num_samples": 600, "duration_s": 19.99048924446106, "fps": 30.014272920621355, "start_timestamp": 0.0, "end_timestamp": 19.99048924446106, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052435/meta/info.json b/TASK02_A210041B900443_20260723_052435/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2aaafc38e422cdaa212844adf241f26ee536265
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 600,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052435/meta/task_info.json b/TASK02_A210041B900443_20260723_052435/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45a2b220b263c9ed0219c8d9f972aff38d8c45e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1857",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:49.522047",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052435/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052435/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66b5e9802722cafaa3d6d07771385a9f482c37e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aaa0f97132af32200ede6f115ec6a4e91476cb8cdea5d7519f4ada6cc3d1b40
+size 9272284
diff --git a/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfea13bbcc0a53ca7b0face92c3e89531de3d421
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a81ce8ed3ef93433e270f38c930c5741c8a019e840eea5acda023336a11ade6
+size 3999653
diff --git a/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d45e9e11e30cc75fc7625fbc3fd69277c4381c41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eefa5244bb98975dac04f6e546865269201c4823de2ff9eccdd66e07c2be495
+size 13908712
diff --git a/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bd349ecc4a80f019635c77d86bc793ee35c81c2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c5cf3163fbdda9c328491ad51a47a3a924f11bccd3e563a605d08a5813d2dd
+size 14380862
diff --git a/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b880936f22cf64c2ece71ab36e907a70c042e91c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052435/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf7f125d87d18788599a0d524e825d73afbb48064cf079933724c8301aaf049
+size 921845
diff --git a/TASK02_A210041B900443_20260723_052458/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052458/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..01cfb9dbad7d409a7e556680b166c30e89210669
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748c3a8e5da18a3f1d7f4e4d5e53ef34eb1a492754b71fb19f8551b27c78144e
+size 357813
diff --git a/TASK02_A210041B900443_20260723_052458/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052458/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a41891f0f23fd7c0024cfa90e37400635b4931f7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 671, "chunk_index": 0, "length": 672}
diff --git a/TASK02_A210041B900443_20260723_052458/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052458/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bfd0c5f5ee19b08ed9807a4e37c2e902013cbee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 671, "num_frames": 672, "num_steps": 671, "num_samples": 672, "duration_s": 22.393033742904663, "fps": 30.009332711023415, "start_timestamp": 0.0, "end_timestamp": 22.393033742904663, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052458/meta/info.json b/TASK02_A210041B900443_20260723_052458/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..069a8900d5e31ea3df0dadacb2693fbf23296456
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 672,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052458/meta/task_info.json b/TASK02_A210041B900443_20260723_052458/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3144c8151435a16329ae0affec89ba80492f4f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1858",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:49.376242",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052458/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052458/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d0f1c9bb662afe34195943e6962c163cb009d66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1820a85cf8d8a5060c2b145ae42758275a986330c5b5dea707ab340b9ba44f7b
+size 11418637
diff --git a/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6642ffcd908eda5042c4f7657d133d6304911cbb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cabfe00ba6edaa6e123dd63e64090e738b7fd8b7f810912db164ca114f019fe
+size 4016170
diff --git a/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc407e24ebeab00e8d7e2f30406d427c1dcbff99
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d46a2ad8e31ba5fb8746c387cf8059e552f9d7b94740ed83247cfa25446daa7c
+size 17539225
diff --git a/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16a662a8ed396da0bcf3f50b5f56da619d6d47e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da89f1acf8cbc51998494923094e1706b40d3ea8628d1184fa93a06a4542fbfe
+size 14958456
diff --git a/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02837b7d122707c767481a127fe9159ae40a2a36
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052458/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c09497d70aa8a1d269229dc330053b05998a8c960c6dc672d798d586a1176f
+size 982889
diff --git a/TASK02_A210041B900443_20260723_052527/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052527/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..40ded60b32d15248988d65d1ad3430d4bbe6743d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d61db50b02c56b5a95ba1962eba16b5e7b07e68d692c6d3e4a54b5c242903c7a
+size 383100
diff --git a/TASK02_A210041B900443_20260723_052527/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052527/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3bded9eeb9cebf7a6fd234a609744ea31f024b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 721, "chunk_index": 0, "length": 722}
diff --git a/TASK02_A210041B900443_20260723_052527/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052527/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc5601bc778e235f6fcfba20b584b9a242bb03d6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 721, "num_frames": 722, "num_steps": 721, "num_samples": 722, "duration_s": 24.049567937850952, "fps": 30.021329358839086, "start_timestamp": 0.0, "end_timestamp": 24.049567937850952, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052527/meta/info.json b/TASK02_A210041B900443_20260723_052527/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3787d9cd2c381b6c52c674ab4e329804df5e4b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 722,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052527/meta/task_info.json b/TASK02_A210041B900443_20260723_052527/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb895886bbad7b2991c77bb66a341d5f7350251
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1859",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:49.055155",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052527/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052527/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8f808cb4bdf4cb1f4f817830e882d227e814336
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b8316a06c51bd49aed584990634e035538ccebdad607d4e53c914d7dd3b4c6
+size 11973574
diff --git a/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a588404f049d87dd3fb83440a5f0343dedb435a3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299d62684d08a0cacf4fabfe57c16d00ba9f9ed8e9823937f8178e2bd0ea4682
+size 4737291
diff --git a/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3eb81d5e8cf1177980ebda56cfecd5f2c6254e35
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc678d65a356b92893f73ef54422a58198df8ce251c5f3e47295369e2bc130e
+size 17680376
diff --git a/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4141def1c9a0d491ab25e173649bb81c73b81cf3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67ee4cac2c5a0bde2de2de64fa1fc8b61e9afd1f3901a8a1c89a79a70c9f603
+size 16638831
diff --git a/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b09833e2eb1ce68c912f0a0f35876a1d69376361
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052527/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82fb78523ecd524e8f72e43c26d8db0736725fbb2659d7a63c618a47f65aca81
+size 1037621
diff --git a/TASK02_A210041B900443_20260723_052555/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052555/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6692a791e3c16daa89607194826fddcb6606e4a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debe07bbe076c6eceee8874ed5897a20aeb0d4328fc9a25525c554b97b958d95
+size 287641
diff --git a/TASK02_A210041B900443_20260723_052555/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052555/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..823712811247d8ff7767914224bfa8879b5a48d6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 518, "chunk_index": 0, "length": 519}
diff --git a/TASK02_A210041B900443_20260723_052555/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052555/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab7efac727e54e2004bc1574cec1cba4cff075c4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 518, "num_frames": 519, "num_steps": 518, "num_samples": 519, "duration_s": 17.269651889801025, "fps": 30.05271926219352, "start_timestamp": 0.0, "end_timestamp": 17.269651889801025, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052555/meta/info.json b/TASK02_A210041B900443_20260723_052555/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..251af198c3356558030db93bb42252480248a8b4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 519,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052555/meta/task_info.json b/TASK02_A210041B900443_20260723_052555/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..10470cbc41056c6852223f52b625116740da11db
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1860",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:48.751476",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052555/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052555/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d82c5ac5a4f55d4de28c6c21d9bd22af62d7a22
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17efdedd523982837c469c53160f90820554c97c6b456f565a2a492500a28fc
+size 7941749
diff --git a/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90cea4262e5ce5c5b0897bbe8799f2df00e2a206
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a1465fcd70dda47259905fdc1d244d15131550d2c57f0277f682226e216e0b
+size 2948144
diff --git a/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..339ae3bff13f1302ef94d4669517f3176d0faf21
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7eda877fef00cda6354dbb8aa944d488c885cc94380dca5656d92bcc3db786f
+size 12797796
diff --git a/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2e0f597c0d750697d330af8096e2b4e717a44ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad3cb2eff0dc0cae337d1ce8d73f404b775a9de7ee5131aa2e7c4f2ac90a836
+size 13158286
diff --git a/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ecc3c6d67457c1ac14d8f9f16d59f6ed67e2b94
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052555/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10fb8aef4cef85be76d0c9a01fe1b3b0be7eae7475aef255b602fcd3749f64b2
+size 805724
diff --git a/TASK02_A210041B900443_20260723_052618/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052618/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2ccf58d94e76af0701c1e9f237c12d01abb998c3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38fbd01d310e5b20f5598ce8f80d46f87c92e5114b990e9ebd65df68739ba72
+size 412457
diff --git a/TASK02_A210041B900443_20260723_052618/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052618/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8cc0ed111c8018baa503a7bd86f8c475295589b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 765, "chunk_index": 0, "length": 766}
diff --git a/TASK02_A210041B900443_20260723_052618/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052618/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..233f121b6c6015821fa55de77a13691402901f10
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 765, "num_frames": 766, "num_steps": 765, "num_samples": 766, "duration_s": 25.522549867630005, "fps": 30.01267522143272, "start_timestamp": 0.0, "end_timestamp": 25.522549867630005, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052618/meta/info.json b/TASK02_A210041B900443_20260723_052618/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9dd8a0e7948535f1bb00f80805810fcdcecd16f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 766,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052618/meta/task_info.json b/TASK02_A210041B900443_20260723_052618/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f723ed9283c9b75829c38a54b181a0eb4ff33b9d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1861",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:48.588288",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052618/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052618/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d7e274f6782130ec462ec1173789307b297609f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2907d19e857b30f59d0ec6016661689d2fdd73b4ff2070d8676f93c03b0f7af
+size 13948786
diff --git a/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57f7390beccc12647cfabc0998c3b2ae23a8bc27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583191bf3e8c02706c06a0408e9a1e17a12746dd3a2c4a4466d354cfed2dd23d
+size 4258878
diff --git a/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..878878cc40db2b6ccb49e303372a3d07969bf5ed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c697972eec2bc3b459fc45b8b0866f3007c2042175031c121e58cbaf4c101486
+size 21648147
diff --git a/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d253e4b0d18b190c629eff8a14360d1b1d19153
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02cb59f8dcf6597c85fd1eab7dffd3ae482fc04f0778502b02d390ba39fc2949
+size 17684814
diff --git a/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..265bb74f55e5874d0a63afd72f8e71d6642641dd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f6e981ff376fcd886174f041864adbc2b7a18e4ecc94b445273e7f8a6cf969
+size 967011
diff --git a/TASK02_A210041B900443_20260723_052648/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052648/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ee6f75aa5c3279a9262f02678a47eb3a8a170598
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bc25f09c7f2925216dcbdc7810cc36a5b6c69d29b325ebd61af4a938b6c61b
+size 335974
diff --git a/TASK02_A210041B900443_20260723_052648/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052648/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0fc4a31371c4176a807dbcfb344d3d873fc52c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 610, "chunk_index": 0, "length": 611}
diff --git a/TASK02_A210041B900443_20260723_052648/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052648/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a8ed245fb4ecda95e8d4f5b706a398e48c89057
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 610, "num_frames": 611, "num_steps": 610, "num_samples": 611, "duration_s": 20.335022687911987, "fps": 30.046683958862985, "start_timestamp": 0.0, "end_timestamp": 20.335022687911987, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052648/meta/info.json b/TASK02_A210041B900443_20260723_052648/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..234b1054df596a74f59e372f7cf3fe6874aaea94
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 611,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052648/meta/task_info.json b/TASK02_A210041B900443_20260723_052648/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ac046cdf5bbcf04925d92d11220e0d4d30faaae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1862",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:48.451785",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052648/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052648/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb4a08db9c298231217e746526b738d0b609680f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5941f778ad857a91e6d5ac3d4228582e41ee7d226d4775566a0fac30f80e2f
+size 9938538
diff --git a/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..527d621850a3674707d558de0788b507dde42431
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707c7fad065db502d35a533bac317183db3d0dfa7336493a47905a57a96a4660
+size 3746862
diff --git a/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a675f7d0dbdb2ed9e19f2c49374aa9a581426ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc7aeb4a6a24a389af3f59dfb440911081425b6e69cb1a54b666f7069ffcd5e
+size 15893957
diff --git a/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee4f8232a80f709864c251b0245692a934a998d7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72eacc91b94e4687f89797154bb286e2990e7cf112e975b9c274bda4f3e9dc99
+size 14811702
diff --git a/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba1bde84204e2e5c2b2e680ab8bff963a5a0ee4d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bb01f686a9037bcbec6bf0e827a8bab4e9cadb6904753045f46e87042923381
+size 965650
diff --git a/TASK02_A210041B900443_20260723_052714/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052714/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b0b3eda593da6cc75ecd9c0f70ce195140cc5a3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850c30e5a22c27320efdb2c5f1ba43d2d26d9edb0966da7500d9c13c1195d314
+size 299045
diff --git a/TASK02_A210041B900443_20260723_052714/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052714/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bf292c49167034b14e14ab5631279df63de830a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 558, "chunk_index": 0, "length": 559}
diff --git a/TASK02_A210041B900443_20260723_052714/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052714/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a29d7109f1fca90dbfd53566c9a08169d62c9b2f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 558, "num_frames": 559, "num_steps": 558, "num_samples": 559, "duration_s": 18.610330820083618, "fps": 30.037080232703158, "start_timestamp": 0.0, "end_timestamp": 18.610330820083618, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052714/meta/info.json b/TASK02_A210041B900443_20260723_052714/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edc4c38af26ad68753924ee95599c66d803f6c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 559,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052714/meta/task_info.json b/TASK02_A210041B900443_20260723_052714/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd179c03ac9192db22b8e8fd3ec6870aafa18186
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1863",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:48.103860",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052714/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052714/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6c572d059088d0d6765dc54478c36280ed08a87
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bdcc833a512651e4ca859c2822e20d9456560d6b93dc00c8bc14f4e514bc82b
+size 9034508
diff --git a/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ad12412476076dab44be4261ed1257e9e530b87
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5862fb578fc48d2f64b96f709c3a6455cd94a05889c7a1077b3cb7f9543d7b
+size 3410648
diff --git a/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..729ee7fd5f0b13cc7887a4c5a4d53bca6a760a29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc968ed3cbf22d5ac186d4e4f616299c5a69e59ef75c7e4dd698c3432b79508
+size 14626545
diff --git a/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d84f2c71c0fc6474b54ac745c46630612a0d0579
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47d5170616c0c2a3c116b53f84eb58eb1c144fc65682ff85e9c046b1e38e5992
+size 14273794
diff --git a/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcd24ec68d1ee015d1a8755b11056ec525f5f26d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052714/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:916e252ab2dc76bda16dd07daff9bc5f0e0b5764cb7e13e79cf2f2cce429dce9
+size 892505
diff --git a/TASK02_A210041B900443_20260723_052738/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052738/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6064f6d82b39d3d2d10f54a26f51de6a9c464321
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84f00c5b2aa8eff36b5b1e55a1c0f407bc0014cb784b5a73ae2edcb6d4f5539
+size 398871
diff --git a/TASK02_A210041B900443_20260723_052738/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052738/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7f607880d8ded5880332864d05e88379fa7f4da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 753, "chunk_index": 0, "length": 754}
diff --git a/TASK02_A210041B900443_20260723_052738/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052738/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..649d308c6fba14c6d0b9ed2e4f9850abf1443501
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 753, "num_frames": 754, "num_steps": 753, "num_samples": 754, "duration_s": 25.13173222541809, "fps": 30.00191125852474, "start_timestamp": 0.0, "end_timestamp": 25.13173222541809, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052738/meta/info.json b/TASK02_A210041B900443_20260723_052738/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc241c7baae4dae8581e7ec465f97cdd565947bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 754,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052738/meta/task_info.json b/TASK02_A210041B900443_20260723_052738/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf7f164ec6067fb75b1c9efd7e641de212a81f23
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1864",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:47.739623",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052738/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052738/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d851e1b2f5af5f55db52402e7cb3ac8e00f86368
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d14c94c591de853de4dbe8571213d3c6e6d77ceea4a63acc17ac067a06912e2f
+size 13022593
diff --git a/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9e89daa908c0d1a88b5b243370af0d7a04db6ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a426533c06d970ef7e287b029b955aa352700852a1cd942e3606f03565b06bdf
+size 4797474
diff --git a/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..645f89bb4eaed6e394e7712755034de8df66bb22
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca356b358ae00a3ebb8070da3865513eeb3071382ba43d3a96c2b9608b23ec46
+size 18874607
diff --git a/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59f4ad4d10eece0ae7ca2db577fab5b95dede5ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3992bf2ac3e70a8b6c7881844ed9426714f22bc0cc9057fdd3e206e5d26c7b7
+size 19668412
diff --git a/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a4f5c0e8b41c6bdb780dadb90adb71afd6310c1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052738/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28752bf702fc75189cc11f57b6ef73313a56f6de754513304aaa3340d1d9c89e
+size 1010482
diff --git a/TASK02_A210041B900443_20260723_052808/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052808/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e7de965cc299cde6e7c55d17061d140fe879fce4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6517491e4bcbea027b01a21a34fb8a1d29a29b7f90e4d06d0cf59c5b2f71b55a
+size 332876
diff --git a/TASK02_A210041B900443_20260723_052808/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052808/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3119a8dff2e26d7e6f49872171ab99c34c2132d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 628, "chunk_index": 0, "length": 629}
diff --git a/TASK02_A210041B900443_20260723_052808/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052808/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7aca9d553a32650282768754e38f431365c01d2c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 628, "num_frames": 629, "num_steps": 628, "num_samples": 629, "duration_s": 20.94594144821167, "fps": 30.029683867645062, "start_timestamp": 0.0, "end_timestamp": 20.94594144821167, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052808/meta/info.json b/TASK02_A210041B900443_20260723_052808/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdf1309311dd544d02634a962a8518aef6eafcf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 629,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052808/meta/task_info.json b/TASK02_A210041B900443_20260723_052808/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b225d7e2015604fdabf0c9c3751637155cb07e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1865",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:47.484362",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052808/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052808/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdc42f64fb938b9920ee1751ccd1e450c305963e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fab6384d7c61774b8df24e16e6e37ebb8f9ffa4408f470817e9489428e1f440
+size 10314380
diff --git a/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5437f6e750b19bd65e64c41f097a96b5a8032e23
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d6ae0f158c1f9bf79c58c3d84de2d2a2361c0d0f652234dcb061c630f0a7e8
+size 4165457
diff --git a/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7050f5a529009d20690a3e92b6185ef3f6c6c867
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b20c679a06c0c289f107c6cf203f44fa7718373adc1ec0c8cee0ca75f5f50c
+size 15467042
diff --git a/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..739199b6dda37fff44dda4f90d2eff5927c3367c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73c8690c676d7b2e076b9fdd28588ad2b12a00781fd6ceb2ae77a4950e0d2e0
+size 14278610
diff --git a/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa13c14d76f0d3d45aaa95d2e97490667b0d6b4b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052808/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30967abee297bdf6a9648ddd893fe2a26120ea1d1017598c58916f614abe26bd
+size 766891
diff --git a/TASK02_A210041B900443_20260723_052835/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052835/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7108c276dd9ef04496ef25e28cc0435eb2bb7c97
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c82272d065c72f8ee7bbd0d8a76beda265191a8875c4288278bb5649aaf44b
+size 310600
diff --git a/TASK02_A210041B900443_20260723_052835/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052835/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b53808288a279a5fbfb8aa2f440e043e103be81f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 573, "chunk_index": 0, "length": 574}
diff --git a/TASK02_A210041B900443_20260723_052835/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052835/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ad13a5b828ceea29c34602fa0db9d779cf3383b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 573, "num_frames": 574, "num_steps": 573, "num_samples": 574, "duration_s": 19.129500150680542, "fps": 30.00601142103442, "start_timestamp": 0.0, "end_timestamp": 19.129500150680542, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052835/meta/info.json b/TASK02_A210041B900443_20260723_052835/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5494d749984cba36c706b0fca1aa529a6dd39314
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 574,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052835/meta/task_info.json b/TASK02_A210041B900443_20260723_052835/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de57b80d0efc337be412f6d81029a02293a52dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1866",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:47.315434",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052835/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052835/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..019b8b930462e92f60fa52d356a37714d92afbaf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a358c4ef0763609e437ea4a1dba683e59457009d752b33aef5de74cf49d14dd
+size 9305451
diff --git a/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..093c69cceaa999bfd4e7e20895f6056541b3080a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37eb0d3d008fae6a26fdd6ae9e4227a96ed89aba875fcdf3eda22c8a980966db
+size 2612620
diff --git a/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4616eb9d2a51f396505569f30aba1fb236c7a6f9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4dd3b4dd892a48a83143d09ead4045c7899e76c8a40126cd9f6edef6f2e702
+size 13796033
diff --git a/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfe72b670752e7cf691e74f2f43c0c2337fd9be7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e89deb914683dabe6324ad1b37c0d7e2422c3367e77ec0aaa3d3103e31a65c3
+size 14040161
diff --git a/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cb97291b171b958fd4e0d979237192a03ecca66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052835/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb635d3924f410e1bff84a273f8a59054a818098c05854dba2ee4336daa2beef
+size 744002
diff --git a/TASK02_A210041B900443_20260723_052859/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052859/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8c10f14024775c53e41312ee0c49a81fbba311b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999ce295a41d432192bdafad77742050ff04e2afe43f66f0a01f3e6b6df2af02
+size 337996
diff --git a/TASK02_A210041B900443_20260723_052859/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052859/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c9a98b5b160b7de27e2b78e14eba8d171c576ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 629, "chunk_index": 0, "length": 630}
diff --git a/TASK02_A210041B900443_20260723_052859/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052859/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b60f56e34eaef2800074eb9a6b1117766b703340
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 629, "num_frames": 630, "num_steps": 629, "num_samples": 630, "duration_s": 20.97007465362549, "fps": 30.042811501917097, "start_timestamp": 0.0, "end_timestamp": 20.97007465362549, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052859/meta/info.json b/TASK02_A210041B900443_20260723_052859/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3549d96dd176232474280ad641784ff55c8d1e41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 630,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052859/meta/task_info.json b/TASK02_A210041B900443_20260723_052859/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da3caadaf2f0b97025d08b877b9df628267043c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1867",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:47.150086",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052859/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052859/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f7982f446befe19210bda114105e30c9d777bed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4b83eeab5d3b786d44f69a999499cdc4dde2b6be8380d572af04ffa9da0a363
+size 10281222
diff --git a/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1441bbc3e86fa4a9d4c480b9bd7f1990ec349fe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf36a95b0958fb245d635cbcb1065b7fc606fe48d8c562287e57bc7fd63d487f
+size 2869071
diff --git a/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebfb9de4bb14faece85858d820c5b77ed4297b60
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c6946cdcb3d2f176beb23059c5746fdf557f0136f78d90d2850972fb0e0288
+size 14658735
diff --git a/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b4cef891b617fbbcbf17faf2b90c755d8c83e83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe5f682816d0d70b112dbfc002586d4e16e63f209ee617e1823129cbb3faacd
+size 14825322
diff --git a/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd124896c5b9a7ed47877f4e6978dd887e2b5c59
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052859/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15049ea30e654dba4178286bc22d064e890cbade0ca2304acacfdf80e33afb07
+size 762757
diff --git a/TASK02_A210041B900443_20260723_052924/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052924/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..14a0c0d578ec1fab47e30bda6d2d19db4d9f3408
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a201a8e957793a8d394a4d33ffdae5a4c157c6757105f15f5d10f3501ff9ad65
+size 378772
diff --git a/TASK02_A210041B900443_20260723_052924/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052924/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97cb27b01dbebe6987dd295262eccfc2edb193d3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 754, "chunk_index": 0, "length": 755}
diff --git a/TASK02_A210041B900443_20260723_052924/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052924/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b0adddbc320d982ff8c96113aa63631b1ec2a6a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 754, "num_frames": 755, "num_steps": 754, "num_samples": 755, "duration_s": 25.145630598068237, "fps": 30.02509708617136, "start_timestamp": 0.0, "end_timestamp": 25.145630598068237, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052924/meta/info.json b/TASK02_A210041B900443_20260723_052924/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e98b0556aa99c175eda3dcb1798733dc62259ae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 755,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052924/meta/task_info.json b/TASK02_A210041B900443_20260723_052924/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0f67428a4cbe20f4c806481d916a3ea65d2178
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1868",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:46.759965",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052924/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052924/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ad376c3db437ad7c9028152245108766693f5f3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a8f20b88c3a033200860b60be45b7054dc4a2d9d5e72e95785bb27ddcc3f37
+size 12404406
diff --git a/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..323a9deb8466942d2a5c9ac78c9456ad8d8bd83d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8acad29f2422d1f3357fb9529eb12c67ae1dcaca5cf6713b6d849bd6bd9bbef
+size 5990813
diff --git a/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd54e1a66c08f08c0eb6fb231c6cdeb77bdc2d5c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c6a31240cc9fa54e8feb5a3a68fb65ebec8e216b3ef38f869705aa8e382f1c1
+size 16946830
diff --git a/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ec45ca04894821e0bf77e488e19425f610e2cc6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fae7b730a3bec6c8834ca1c2215ba2ac9fb1a9cdb8c5f632f271ff2d532562a7
+size 19414501
diff --git a/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e20d6c531075dd44577891aeb92018b3ed8952b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7f069d1db7cfc1670c829c2cff1d530f1efa86bbde43421c9c0e5aff3a3c6f
+size 1168223
diff --git a/TASK02_A210041B900443_20260723_052953/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_052953/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b3ea1a3d78f4a230bc96485eed0d9f377eca9556
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e082feeacee58a311e335a189529e5b8b6ae53df4a4978ee1767373d1c0dee3a
+size 402688
diff --git a/TASK02_A210041B900443_20260723_052953/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_052953/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18d858ee24b4281951967e5ccdad8859ac3be274
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 760, "chunk_index": 0, "length": 761}
diff --git a/TASK02_A210041B900443_20260723_052953/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_052953/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92d06fb49774e30ad767184b7f2ba638703b6073
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 760, "num_frames": 761, "num_steps": 760, "num_samples": 761, "duration_s": 25.34944796562195, "fps": 30.02037760475266, "start_timestamp": 0.0, "end_timestamp": 25.34944796562195, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_052953/meta/info.json b/TASK02_A210041B900443_20260723_052953/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35b9771d3a0361fff09d462aeeef3c77cdd3e9c2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 761,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_052953/meta/task_info.json b/TASK02_A210041B900443_20260723_052953/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd490d2eef6806e08c1715cf892f67de36fc1ccb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1869",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:46.589953",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_052953/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_052953/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56aaf541030fd338c786bde94278beb3b935928d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237d9a1ee4e96a1d660ee4299f0b5da1c1e701386205326f184e5527ae5daf55
+size 12209499
diff --git a/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee7dfbebc860019ce1bf1e9086c55218bf25f646
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:476c92791e1ad6518304596364aa3cc346911ddcd39e91f038c61e27bf6092be
+size 4017490
diff --git a/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61c1787c6efc648677edda73f75e2c97277f519d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7283c2247d617cfc56305ec8197819b7d2439180cda8b8ac5d32e050a75b72ca
+size 18971142
diff --git a/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9edd7fb0ead7c6b36c8d94eb3c57ca2b11478edb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980cea3567c4248bac6dd84fbccb8fffefadc8be3d5535cd690a77d3aa5e77b1
+size 19220189
diff --git a/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce9534fe60ff01870eec0c334ca9429e79d8dd62
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_052953/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d2b5982f49f8e85af490654f025f8aa04a27cd832bf72693083a35ff3d71c4
+size 1096422
diff --git a/TASK02_A210041B900443_20260723_053025/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_053025/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..be4a578158f4cf248ff7d5fd3a2e229ed93c675e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d94b2f05dd4cb27bd2ea7d8614349365909562f7924c6815e0855416bf69ad8
+size 326497
diff --git a/TASK02_A210041B900443_20260723_053025/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_053025/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22d89aad4d22fcc02befd9cebfa416e770fa7b59
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 631, "chunk_index": 0, "length": 632}
diff --git a/TASK02_A210041B900443_20260723_053025/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_053025/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff7b02386cfa225931583cb5641c2835acde6a7c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 631, "num_frames": 632, "num_steps": 631, "num_samples": 632, "duration_s": 21.044947624206543, "fps": 30.0309609358711, "start_timestamp": 0.0, "end_timestamp": 21.044947624206543, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_053025/meta/info.json b/TASK02_A210041B900443_20260723_053025/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03b348785791937955dd8de86b618114a7d8447
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 632,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_053025/meta/task_info.json b/TASK02_A210041B900443_20260723_053025/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f862ddf7ad3032143231de605b575f5a57effd6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1870",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:46.304921",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_053025/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_053025/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afb54c14049d3dd962691a4f64371af170302f23
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50031d2182a48c740d236878eb61ad63d684eb1921498dd357ae668220a2208e
+size 10180797
diff --git a/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44e68ba1782771d5dcb80b4d70e1faf155285124
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51abbaa82b93618cbfb1f754122f75e1b65ac94b77605225a7339ea4043447a4
+size 3717665
diff --git a/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d06351472a4a8a6be4f7f0ba87b5e7d34052850c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8471e04dcaf498ee3a6a2a71443657599cd8da6e43afc19690b2fe752feea6
+size 14974804
diff --git a/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ec83a20ec39918053b5a1dd8b1fa2a7d2191f91
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a15aa836f5df19f60b5221ec5992522602c5dcf67cf446c656cdaa6f7baa57
+size 16698345
diff --git a/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f62eb62ab06bbfe81f720136ef773b627cb8ef80
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053025/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33667257294020e223061c7f89bfbdf33bff7e5b8886762a98adbcd68b99fca0
+size 917722
diff --git a/TASK02_A210041B900443_20260723_053053/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_053053/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..480bbb48d0c9b97cd9819af6c029f4592e22dfa9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67aea31e1ae81bc7c49283ad036d9276521957a01f9465347980b0cc31baf92e
+size 295078
diff --git a/TASK02_A210041B900443_20260723_053053/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_053053/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daec1ab4d20f35050a1007f7a38cabfa89060073
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 574, "chunk_index": 0, "length": 575}
diff --git a/TASK02_A210041B900443_20260723_053053/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_053053/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b468f59f601897b1ccb868e7b7e3e339e70afed5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 574, "num_frames": 575, "num_steps": 574, "num_samples": 575, "duration_s": 19.140918254852295, "fps": 30.040356076137325, "start_timestamp": 0.0, "end_timestamp": 19.140918254852295, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_053053/meta/info.json b/TASK02_A210041B900443_20260723_053053/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04bfa1f884eedab2c6c6c0b2af35e10596ef2214
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 575,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_053053/meta/task_info.json b/TASK02_A210041B900443_20260723_053053/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7964cb3f82602147efa76fd0e67eadbcd3742039
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1871",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:45.882236",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_053053/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_053053/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..259037233349330d6ae1155f4ae5da833931f528
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deceb5233948d18a759e9a018f0573b191c70d255fff15c009081c01dd07fb9f
+size 9249360
diff --git a/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06226fe0a8124071feac2edad28eca5148df51a8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48421e0057466ee043616b6fa237a161bebbc69b25467cdbca47e5a836c08248
+size 3952917
diff --git a/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81fa4a40f4c095172b660346d147744b824093e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5340f3d159a03e251624b5c4417711187d36a44c48e6adffe4be74cfd5f54b84
+size 14883847
diff --git a/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..936a3735572065565996829e4bf99010383cc325
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a033050301338c41b7c3e1442d40ae637a90192040a116e5125105c2940f294
+size 15818798
diff --git a/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc2be23c2a3e31c8e4317b71589b67a8991f0e74
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053053/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb5bce473591773dc5f93e05e195c4bac6e061b68069d87c53bd9473285515c
+size 1100932
diff --git a/TASK02_A210041B900443_20260723_053120/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_053120/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6e6338810677f78e833c4a25280b152a1cd62f16
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0635de457da1a520a5c5b8f30aa551fb874c4b72cd957df3bb8fbcffe409d99
+size 350612
diff --git a/TASK02_A210041B900443_20260723_053120/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_053120/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5911d2e36d1016e8620e7e198970a94d186d35aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 650, "chunk_index": 0, "length": 651}
diff --git a/TASK02_A210041B900443_20260723_053120/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_053120/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33b1d71fc0360f937d907429e811ac2fbbaaa719
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 650, "num_frames": 651, "num_steps": 650, "num_samples": 651, "duration_s": 21.690696239471436, "fps": 30.012867858771127, "start_timestamp": 0.0, "end_timestamp": 21.690696239471436, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_053120/meta/info.json b/TASK02_A210041B900443_20260723_053120/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4c16568e95fe9a81ec3b9d1100e854d8b8fb93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 651,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_053120/meta/task_info.json b/TASK02_A210041B900443_20260723_053120/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2658f204edca95cb71439a4bffa55e4fba1e9704
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1872",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:45.658547",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_053120/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_053120/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..639dbddf4e89904dedcc8093bb1e576b09c65c19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbafd5f3923a4b1928b47d5e69e9fd1a83caa5bc2c80d23fd8e2b8352e2d8bb
+size 11804866
diff --git a/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3ec4379e89f8614281622b9a49de183202e5072
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa12507533395e05a7c4353b6092396ac65662467122f840d66a56648d5093bf
+size 3575753
diff --git a/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c815e31223ed6f6bdbc7bb56de3c90a1ecc59f87
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc67b05c4d381999f5a2f2f3614081b23181f1da40162c24e50c92fec4ffaf65
+size 15856888
diff --git a/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d524d4b08939e70c28bcfc81b7d39d4508e0f7e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d517fc8a9f1471383fe6c5a0f71a36a216f84ebf273b634a112dcc12c7c0e1b3
+size 15865185
diff --git a/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..031c7acb1ca7008af41e032c08163a7e11487747
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_053120/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58af96fb1636f4f76e73bd4d08d308cd08f5a2d8421e3d7cc18d37d1905b95c6
+size 846310
diff --git a/TASK02_A210041B900443_20260723_054223/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_054223/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..be91c0221c5ef7e118ab4a8706415d3264e3fcfa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba5f1bd8ec4526f48d2e67f96bcc41f2ac0cd289f19acc9515b248fe7b5af91
+size 299058
diff --git a/TASK02_A210041B900443_20260723_054223/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_054223/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85dce7ad8cdc73933e071387d24f46392a51cab8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 588, "chunk_index": 0, "length": 589}
diff --git a/TASK02_A210041B900443_20260723_054223/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_054223/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57383ea1546a16fa9a8d093d78aff3e941fce28b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 588, "num_frames": 589, "num_steps": 588, "num_samples": 589, "duration_s": 19.611309051513672, "fps": 30.033691195873477, "start_timestamp": 0.0, "end_timestamp": 19.611309051513672, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_054223/meta/info.json b/TASK02_A210041B900443_20260723_054223/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96fa857e51c933fa96670cd38ba8849077cb43cb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 589,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_054223/meta/task_info.json b/TASK02_A210041B900443_20260723_054223/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86e95221298af43ae3a0a4274f746e1e5e08d23
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1874",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:45.536804",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_054223/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_054223/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1eeb2ee025c3ac3a099f228a72e9b5a2f7f8124b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa4f76c5b247c4adcb3f15286443fc6c3a840f025997eca1548274b2e1c8d16
+size 8821373
diff --git a/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab5cfa981724bacbc2eb37e8a9b73afecccac425
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32c6a0db3a1204ae931a83a64492745d41b7e9cd989a416f0dc571af580d36f
+size 3863334
diff --git a/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d3e50c6e38a9c678357883ec6677240203a9fb9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ec8412b3709ccf07e87c8d9e281985247c3dc826d43203e4178a983d2baf09
+size 13895583
diff --git a/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9419599603aa28951c8521a4438f75ed6e1494b0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce68270171af4624e218ad587f7865c835331fcb21262d294719c5c5a9d036b
+size 15531877
diff --git a/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..183fbc36c6fef3a3348247b8b3ba161d50fd0ebd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054223/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9061c42a7bb94dad2aebb05e083b5a4d157965a7020aa02ee738347edbe9ef7
+size 991196
diff --git a/TASK02_A210041B900443_20260723_054306/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_054306/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..939e089a407b07db36846c008fffee87a45ac7bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:846278f85cb647843eb402db2f15452552e8514b0b68cb11e96dada5d95839c0
+size 402255
diff --git a/TASK02_A210041B900443_20260723_054306/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_054306/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86d4bb18f4b3ac79288dab6509d08a34879b5ae5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 827, "chunk_index": 0, "length": 828}
diff --git a/TASK02_A210041B900443_20260723_054306/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_054306/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ba5e9b29eae99d5d5bc47385a8c21f7d9a5869e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 827, "num_frames": 828, "num_steps": 827, "num_samples": 828, "duration_s": 27.567229509353638, "fps": 30.035662441851738, "start_timestamp": 0.0, "end_timestamp": 27.567229509353638, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_054306/meta/info.json b/TASK02_A210041B900443_20260723_054306/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d4aeb9a013e83fa9d1b6d07075b1a3ee04ae61
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 828,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_054306/meta/task_info.json b/TASK02_A210041B900443_20260723_054306/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3aa8449edbbe3cddfa877c5f3943820051e1c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1876",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:45.263398",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_054306/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_054306/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d30153717b6d28d18ed1c94dd0c695d0d4c8803e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523e12e2a1afc86b93ed1bb296fa1b9f3c404ffa9a2a27d1c73e749126f84b72
+size 12997653
diff --git a/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8f677cbbf25bc001b067e923afb68b96148a1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38fb6e9a43225392fbb9e275badd1d79066679ea97437c61a41a6c32070460ac
+size 4458888
diff --git a/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..271a3e0a530f116a1b7117dacc6b7d24cd433368
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ae9c220174d21ac6894311edd51885866277fc5329593ec4b51bd3627a0733
+size 19689714
diff --git a/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e174a9114c373b1d6034b65fdebfcf8aacbf3876
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7eba9328b1048aae2e254a4fe51a435ab55e9fed0c97a08b854cd15086f4a1
+size 20552046
diff --git a/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdb2820c329573e849e6a2b08da27196b4482b0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054306/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b75f0892ffd09e2d68e8d299e8ac52d7fb4e89853906600245d5d900e38bb0
+size 1213828
diff --git a/TASK02_A210041B900443_20260723_054336/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_054336/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8425d487e6943a4eb8dadba79df1387dc9e6dff9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1085d6d7238f4729390415e5fb55e548e6cd3f7a8461f14c308aa9ac0e5445dc
+size 463407
diff --git a/TASK02_A210041B900443_20260723_054336/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_054336/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01a71bf55533a188383eb068768a4973e585ef41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 970, "chunk_index": 0, "length": 971}
diff --git a/TASK02_A210041B900443_20260723_054336/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_054336/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..629e78f22041f545e10ab85d8722109145bf19e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 970, "num_frames": 971, "num_steps": 970, "num_samples": 971, "duration_s": 32.35427141189575, "fps": 30.01149330913354, "start_timestamp": 0.0, "end_timestamp": 32.35427141189575, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_054336/meta/info.json b/TASK02_A210041B900443_20260723_054336/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..140307f9efd3754c36c43ed3178b9df8d2bfea43
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 971,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_054336/meta/task_info.json b/TASK02_A210041B900443_20260723_054336/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5123ae664ea2725427b4a2812f6daa600a3d64e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1877",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:44.883753",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_054336/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_054336/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0924a558e15ff05ef2c1eedc040c9959e627d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf174c42e09cba4c468aadd535b5e1b5305c6ff6772324e87f9bb19600f2374
+size 16862325
diff --git a/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a79ae3ae46f3dc6990d7080b9b4feb90b67a29eb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139f23d8230752dcdaa6af53409b2485569c35178581e932308b13a54f77ee25
+size 7259359
diff --git a/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2f1aacf77b407296500e87b21c41c886a58ffb2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a658247a580d6da413c441f952408c17b259bc65d3da50a70fb3002f34f954a
+size 21256431
diff --git a/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a68ab698af12539d88610f518cf8fdcbcf762af7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd65325f38986488abf9b078944c2d51cde4712f0cb44c7cc70ee9f910af1b5
+size 26331228
diff --git a/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a38134f5c779d4af023cd39f69379ed429ec05d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054336/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e4da9c46106da67322d8093b5c1612817a48566133ce50ba6e0bcd7faa72e5
+size 1440558
diff --git a/TASK02_A210041B900443_20260723_054411/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_054411/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..47e5d44d8fc5c1e8c2769b4a57b401fe8381b9ed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278429d62396b90117b46cf37b7779f569495520080fabe9e83bd046c4af6207
+size 314963
diff --git a/TASK02_A210041B900443_20260723_054411/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_054411/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..935c92f5965be17dd1264dc9ae0750f58a698b3e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 612, "chunk_index": 0, "length": 613}
diff --git a/TASK02_A210041B900443_20260723_054411/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_054411/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9cba54258f4405f6fbb0aad3787c60167594110
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 612, "num_frames": 613, "num_steps": 612, "num_samples": 613, "duration_s": 20.418534994125366, "fps": 30.021742508772874, "start_timestamp": 0.0, "end_timestamp": 20.418534994125366, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_054411/meta/info.json b/TASK02_A210041B900443_20260723_054411/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6957d0b2e901ff7a942b3e2ae14be0afd9548a5c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 613,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_054411/meta/task_info.json b/TASK02_A210041B900443_20260723_054411/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5514f3a889924d9f7474ab88328242e568bcd0e5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1878",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:44.562821",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_054411/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_054411/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49a8c11fb86d4e9a1b0dc3d0d6e106da9acd3cee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e174cf3d5cd41ddc86ac56ea7aad85b9c0e23609581199c8b752953a70d94a7
+size 10353202
diff --git a/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16c189b2111de532acf46da36165c16d170a25f0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be89b7590c6fc5c03e5788dfa17715877f4d49489f00f0235f4bb4af49a1d143
+size 4486791
diff --git a/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95bfe9d45872a3a526f72ae674cfc59840724eb4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:274aeba88969adc36190ac995ebd47ee809bf756860f6ab1f69a7b486e72e337
+size 15806286
diff --git a/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5926860346554c0d721414d94972aff7dcdf26b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0297d08909f42caf1c59681e2e6e2543bf51b23eef229ee3aab725596be76e13
+size 17245073
diff --git a/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97dc536d21e55f879575babc8778d01218b7ed43
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054411/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87dbe59187cdc0da2ee5ef2189cf4530d43fa8c38f871531c4f4b070d1e8e430
+size 1073736
diff --git a/TASK02_A210041B900443_20260723_054436/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_054436/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..12620593bb572750c467cf637618705a911824f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b123ff36385060468ac8bdefa9191081037fbf08c8544d3ad7e0e38a86c0dfce
+size 349897
diff --git a/TASK02_A210041B900443_20260723_054436/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_054436/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc120ab3b71c3513354c87809431373d88f432a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 696, "chunk_index": 0, "length": 697}
diff --git a/TASK02_A210041B900443_20260723_054436/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_054436/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3659294dcee4fc79188abf5f2ea9149c94e6c6e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 696, "num_frames": 697, "num_steps": 696, "num_samples": 697, "duration_s": 23.23128366470337, "fps": 29.959601460055048, "start_timestamp": 0.0, "end_timestamp": 23.23128366470337, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_054436/meta/info.json b/TASK02_A210041B900443_20260723_054436/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d90933ca64873a120638d56fb6b0e94eea2736e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 697,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_054436/meta/task_info.json b/TASK02_A210041B900443_20260723_054436/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..735cc9546bfb6b08efe03ed907d6c9710d52c3e1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1879",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:44.436489",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_054436/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_054436/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..740840180e1f95298a142ff204c2d331da92c7da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a723129589cead51088e1ec7a84ced9ee88cc8fca11d53469138b1b0a463524
+size 11396192
diff --git a/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..477f9c47ef184240cd22c641f1861371ee9c7661
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40f5fd80afff588e85c4abeadfebfc8f61dc0c7e40f54ef2c8a0b164d0876dc
+size 4971653
diff --git a/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c65d907ffddac6152ff72e1c1852befc8f738b79
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1367c05cf7537daa131b94f571d6dbc0f8e07e459f807ec594fcc0747766322
+size 15886701
diff --git a/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73beff7d854e7aadc28cf6c1848a2f927e1a5b54
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84da99de609ad16c377a51fbf44823fa9a5cb3e40c80fc4d785ce289e41c650
+size 19248422
diff --git a/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2756050a9a4738d8d62d298c49cb87e2905c946b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_054436/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33bd51acda36711f338c14b6141ce8e4295e52e99fb9803e2c88bec9b9243b6
+size 1222751
diff --git a/TASK02_A210041B900443_20260723_060254/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060254/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ea9db270759f4b8a7cbd44b7fb25807e3c035f11
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6562d23a1a9e343efe3a21cc813fef2b004d63d0ac416ae6e311bb9a990a69
+size 378763
diff --git a/TASK02_A210041B900443_20260723_060254/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060254/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1f26d8bf8056ab4a0be539f082f580a5f3db34f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 775, "chunk_index": 0, "length": 776}
diff --git a/TASK02_A210041B900443_20260723_060254/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060254/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3993f21f268c5714eabb0a0d9f1d9a6c8dbf1f5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 775, "num_frames": 776, "num_steps": 775, "num_samples": 776, "duration_s": 25.840487480163574, "fps": 30.030393219001603, "start_timestamp": 0.0, "end_timestamp": 25.840487480163574, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060254/meta/info.json b/TASK02_A210041B900443_20260723_060254/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2fbc3889dcf973dcbc5492d026d766e1553c82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 776,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060254/meta/task_info.json b/TASK02_A210041B900443_20260723_060254/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e786b42b9e5e0c600b2a6de0c2c9c66828ce47
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1882",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:44.293644",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060254/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060254/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6df7827d7a0b1e4eebd2f9f95f8e57276762ec6d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec552ee9f22d26cc9b98edd27b1169376896fea2b0b72fcbefeaea5a27a0f866
+size 13377507
diff --git a/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4278ddaa76f1146772840f0b8caffa7838b190f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8892d5cacb40936d2e517b2a1c35afbc6ea9cad71cff70c0a8b83c96e9f2b223
+size 5876716
diff --git a/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04c7926e8d7336731bf23533521a59f15ceaf8fe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a895699ae1f8ce8a60cf9bd938539afac6a55ee97a8bb7c07b5ae54941f9f4e
+size 17913112
diff --git a/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..194a0d65140c137aa752f307ff21d2ae803d7027
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:048a7db133f2bf807893c4619d4db05559f538142028c33f2c2ba6427e3a426c
+size 21359542
diff --git a/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfa49477cab4949da14f3a52e299acf3f6bcff82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060254/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35be02f8696ee7e0e49a478bec7134516db749387841f45456dfb00053365c2
+size 1297543
diff --git a/TASK02_A210041B900443_20260723_060324/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060324/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5f5a4486b447a3e6860381e4e0d1ef2322361348
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:203b656a50b50725dd0197a095e7f43f67d172fea3f0680e5ad2d4b52b73fb3f
+size 246670
diff --git a/TASK02_A210041B900443_20260723_060324/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060324/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5ef8df6b780744288e2a76822c97250a6670e49
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 489, "chunk_index": 0, "length": 490}
diff --git a/TASK02_A210041B900443_20260723_060324/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060324/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..335bbb55d8d96676830e6d023c233224dd09259a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 489, "num_frames": 490, "num_steps": 489, "num_samples": 490, "duration_s": 16.322251558303833, "fps": 30.02036809993385, "start_timestamp": 0.0, "end_timestamp": 16.322251558303833, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060324/meta/info.json b/TASK02_A210041B900443_20260723_060324/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8e84c8161eb907d7c6752b6c2758a1d0ad5f833
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 490,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060324/meta/task_info.json b/TASK02_A210041B900443_20260723_060324/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb9431db040e491a0a45118d0229ab3e32fd13f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1883",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.989026",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060324/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060324/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5df087a00c7498f39a93bfb8588dde2ff5e225fa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebc7a5face6afc03a2d37013f7c1b22ef4718058519db73ef39fa6bc95fd6f1
+size 7056408
diff --git a/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ff91a1ca191cd598582cc275dd09c65f77ae01e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41081afde4c3d29a60f5efca95fd729013e2acd4635600935696ef2bf5f816e2
+size 3847820
diff --git a/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb160a736a1fa317c32993cae8befc8929d42f7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b2c33de1c7ac1c6ae8c6bc59f86dbb8e3a6c47f233894cfda6f9a2b78619cd
+size 11821034
diff --git a/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..011b1430f552d17b44f47e537a7d482787da61b5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e602174ea69cd8279f833455056e01cfab185b84e99bd90250371c0d660a6f68
+size 13500436
diff --git a/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..381682b5af68fce308b7fcf617d6aaa1ea43a5d0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afb82e368699e5ce35930676573cebfe60ddc4ef67cac56c73be7fc5ad139fc
+size 945828
diff --git a/TASK02_A210041B900443_20260723_060346/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060346/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..591f2c1c019a3a69f8022f0ed73e2766f2f6957a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af785a04fe464b94238cc6c613eeaed37c35d8730c9bc1af33907f9d5923cb36
+size 389598
diff --git a/TASK02_A210041B900443_20260723_060346/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060346/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c89ae48c67d472023c775b08e142d12b39be8f82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 739, "chunk_index": 0, "length": 740}
diff --git a/TASK02_A210041B900443_20260723_060346/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060346/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a23779bc04e4c69aefa5339dcda94d6e1acfb61
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 739, "num_frames": 740, "num_steps": 739, "num_samples": 740, "duration_s": 24.64741539955139, "fps": 30.02343199090436, "start_timestamp": 0.0, "end_timestamp": 24.64741539955139, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060346/meta/info.json b/TASK02_A210041B900443_20260723_060346/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c9243222f3148918a7a1c57b71da6e4a2f1663
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 740,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060346/meta/task_info.json b/TASK02_A210041B900443_20260723_060346/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c65ec5db73cf95f2a7f63213642c66e7df4fa8b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1884",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.757321",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060346/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060346/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddca12161f611d9e377a72034adbf66161132d19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffe4ba70c110e294f5e0119207eb7ee737f846ac1feec1e5fb5939c802e9adc
+size 14660146
diff --git a/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..139df9de98bbf7a6a3136c13336679c73d3258dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75043d10a0cde652e8908f75f317d6a65662525bf69555478b53f502cd1c2283
+size 4196933
diff --git a/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88797b82846e4a564603e1285a4d2a89ef560928
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1725d7d41504ef15f97ef397c4a00951c4398ebb4e1fd62b7f5aa8ab617c208a
+size 22653586
diff --git a/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08e9456d39dab01f7ac7b3a7aa94d4669d2383b8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a39db70762ceb4bd16cf4d7ddeb60d329ef8e10d25c16308f49cf215a2d1d03
+size 21242116
diff --git a/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4cf2b0451992e13e555352ca1d8d5f86a2ed843
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060346/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b8b87664ce2971d1e793480fd14bf5419d17cdd4066ec035967c3378d4a3ff
+size 946313
diff --git a/TASK02_A210041B900443_20260723_060425/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060425/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..70e7333fc48d0e6745183bfe557f8c3dcce80041
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed907b86f0433b33f9797ef65ccffdd53dc2f791506159331b7eea8b9e54283
+size 279131
diff --git a/TASK02_A210041B900443_20260723_060425/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060425/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f047fc7e08a4bbe6be4607bf295338d2ca832ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 526, "chunk_index": 0, "length": 527}
diff --git a/TASK02_A210041B900443_20260723_060425/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060425/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9d741791d55c4d0e2290b665ce16520e88276ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 526, "num_frames": 527, "num_steps": 526, "num_samples": 527, "duration_s": 17.5334050655365, "fps": 30.05691125198872, "start_timestamp": 0.0, "end_timestamp": 17.5334050655365, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060425/meta/info.json b/TASK02_A210041B900443_20260723_060425/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..237b7d5a3f1402cf5ac2c215831a05641ed378fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 527,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060425/meta/task_info.json b/TASK02_A210041B900443_20260723_060425/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..701c8b780c72ff84b593b77bac30cb19b0077b83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1885",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.617772",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060425/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060425/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fecab98ae1e2a64419ad8b09772b9ed9fb535e8b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc570d1443c0bc7b4e61c45ee87c09b018e78d51080fe174f62d77d994f0ee0
+size 10054340
diff --git a/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..494ffd338be2623c1be836f14eeb939ff057604c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243c51b36e23bda81a9e5c194952c96f0ddd1dea6f9178b531a7333b8ebe288a
+size 2598618
diff --git a/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb1cf8c8a09552bc513dd4b763aad20f866da73e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1335e087095ebfd7fc5847617b77c6370ddeebea72064aed7d1507b176f718
+size 17119275
diff --git a/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9168bf388c5b241180cf6e2db31fb47523e53fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd96ee5912abaf1b8384d2b90081ecce2dec4c1cc8fe09f9fccd2417e4e70d8
+size 16145588
diff --git a/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d1c6856da84881b5e8f8c9766955178e28c8a29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060425/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce284414ef58ca5b8a2e453281ec8d18064682cc123524db706f192699a58c5f
+size 607127
diff --git a/TASK02_A210041B900443_20260723_060447/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060447/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..24807db4bcd7afc0c2c7098dfeac91bc27c23a99
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ca098c5ad73eed9485c25bef0bedd25475082c382c80ff7619dee53f6e0396
+size 289063
diff --git a/TASK02_A210041B900443_20260723_060447/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060447/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b6ecf29bd0f729a53e1e9ba1381ee2011123342
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 559, "chunk_index": 0, "length": 560}
diff --git a/TASK02_A210041B900443_20260723_060447/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060447/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3524aaf5d8052481a9917a6a67154f1a5b0a415
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 559, "num_frames": 560, "num_steps": 559, "num_samples": 560, "duration_s": 18.662065744400024, "fps": 30.007396162348247, "start_timestamp": 0.0, "end_timestamp": 18.662065744400024, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060447/meta/info.json b/TASK02_A210041B900443_20260723_060447/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..359988efa30a9784b261b3b6a01dd964fc67af0e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 560,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060447/meta/task_info.json b/TASK02_A210041B900443_20260723_060447/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2bdf25c814c434074b211a7ce58e65c730b53b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1886",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.442572",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060447/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060447/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f50cf2c599fdcb8f0fe31789162eabc414a3924
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e32bd27a0a8756eb83096aa8f894f7de314b4c726b6b6abaaab5fd14917b302
+size 9626218
diff --git a/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a69ff1bf7cc272e431d163e28dec50399d8664f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7f44c42fcea97dc336c28da498ecc1ad8f94ad3fce55cc5c4437a1104b57ef
+size 3512326
diff --git a/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c8cf4c026856bc2b81e52ea8ebb8ec817bab566
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1feed60d42437f110c2c363ac5c5add6184e9dd916a035b48d2dcf8b8a6a53
+size 15808011
diff --git a/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c937539ef64d5f3d3643ca856e3eef138023d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda2032cc5657be198f3bf62ab626e0d72dd0cfade68f6c48e0a36a2dfeb0e97
+size 16057354
diff --git a/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26ec56d7ca6b1bd61edc4a1e25dc16abc3580004
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060447/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49703e7981977f8a7cc1e23f353cb0eac0523d848ec98ad470a9965c37966c31
+size 750496
diff --git a/TASK02_A210041B900443_20260723_060511/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060511/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e84b209afcd6fb05de40315eda189d1047f303de
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f1d3c133c6375454a0294dc24dd007783834ccc2feb834d50a8b74c98f5178
+size 297098
diff --git a/TASK02_A210041B900443_20260723_060511/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060511/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d37493b0a7271a119b1db3374a5808d7ebeedc48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 577, "chunk_index": 0, "length": 578}
diff --git a/TASK02_A210041B900443_20260723_060511/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060511/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c2cddb8dc96597ac9dd248c2ce1e0f4984ebc2b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 577, "num_frames": 578, "num_steps": 577, "num_samples": 578, "duration_s": 19.256415367126465, "fps": 30.0159707287334, "start_timestamp": 0.0, "end_timestamp": 19.256415367126465, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060511/meta/info.json b/TASK02_A210041B900443_20260723_060511/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94af426198379dd29e948ff61eb57b24bfca60d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 578,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060511/meta/task_info.json b/TASK02_A210041B900443_20260723_060511/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea34cb56edca719323970c561bb65ee56318c83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1887",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.291138",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060511/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060511/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05bafe026ffa14bee7ea6b4c2dd833ffe433370b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740b93849aa4ff0e067e556c1b9357dff40f5dc2487ef1a0bfc182153b36a948
+size 11622939
diff --git a/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c88773a9e323d0f3b3d3304f519335cb018fb102
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572df8eb4e653fba463284f78030a3ed1226e73354856977b2a69d364011a24c
+size 3304002
diff --git a/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..021eb2c5b3b7d73110ec2e8daef47a5d33a09a0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e841bb3cf4cd31973efaa07c2e2c0135fbb422080005319cbf63081b357fee
+size 18426432
diff --git a/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7217f90031e046cf2e9e7ebe20e84185ad2279c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f4a157671017dfdaa3ba268d65d3f1db8e06346374c733f6c9312dbc6053d5
+size 17755730
diff --git a/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db6ab43d6a0b0ff20cece1a7bce7c948c92cd22f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060511/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9fa8d0ec58b2ce3e0b699731b1bda558f8e1aaa382759f46996c678d1515f48
+size 838299
diff --git a/TASK02_A210041B900443_20260723_060536/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060536/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab60240ea90ffc0c21b81caa35e1061e1c4ab357
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a86a00298d748598a8a2794012b0ce32e05563addbcc63c1de98a307235148b
+size 375321
diff --git a/TASK02_A210041B900443_20260723_060536/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060536/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8366653b27c84ea01291afd595238443c8390edf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 720, "chunk_index": 0, "length": 721}
diff --git a/TASK02_A210041B900443_20260723_060536/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060536/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f490fe9b00c48b3c4e189ca444961dd235b38e2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 720, "num_frames": 721, "num_steps": 720, "num_samples": 721, "duration_s": 24.016353130340576, "fps": 30.021210801116144, "start_timestamp": 0.0, "end_timestamp": 24.016353130340576, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060536/meta/info.json b/TASK02_A210041B900443_20260723_060536/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee3603d171b12fcd7f6a212a18339302b557833
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 721,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060536/meta/task_info.json b/TASK02_A210041B900443_20260723_060536/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1c2ddcfc79fe7d70e3f04c4043722deaaf96a29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1888",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:43.089671",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060536/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060536/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32a296c1b504c4151b68161904513b9073f7c49e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883c140a8a8b5cee8ae2fa29e10315a7067208c3c3db17265d66e33810108dd8
+size 14119462
diff --git a/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0b657b0cd5125ead083b06973000e5ca9bdfdde
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8562b0ab1895918d5a9ba1519f84639aee6af1bd4a5f20fffc2d56bd792dc01b
+size 4304932
diff --git a/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3047c1cc78d861a86959224559ff4cf4042da000
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c8bfe466c5cfcf39ecaadd63307610b841f51f7c6e1246f53ac506ebb02224
+size 20797870
diff --git a/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29b37ec91bd0a286cd9cf01b804fbf903de500dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0c06c6fb0ca892833cb9282515649e5d61cba9896fff8ab8958d699e2cd5d2
+size 20052697
diff --git a/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8973c80b5d43eadd8d00ca5afed8928ef9b592dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060536/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33cb59e84d7dca00791e28cbe1d08655107db25623bf4db49d2e042aaa01d2a0
+size 1027600
diff --git a/TASK02_A210041B900443_20260723_060607/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060607/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..445ad9711e32a3dfe3300fffa4743e5558394824
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b63a2da6a184b0f26c513489ef0ba2fd9bd7baff5539dbd4ac426db764beac
+size 301583
diff --git a/TASK02_A210041B900443_20260723_060607/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060607/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a822aca8033a17c367a5eae169ed352bacc56c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 611, "chunk_index": 0, "length": 612}
diff --git a/TASK02_A210041B900443_20260723_060607/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060607/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5dc345e672e68e93082715fff2b77e79523483ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 611, "num_frames": 612, "num_steps": 611, "num_samples": 612, "duration_s": 20.39552664756775, "fps": 30.006579902313213, "start_timestamp": 0.0, "end_timestamp": 20.39552664756775, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060607/meta/info.json b/TASK02_A210041B900443_20260723_060607/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..112e9e21ed5fd1289657866e90f8ed6f01f5c32c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 612,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060607/meta/task_info.json b/TASK02_A210041B900443_20260723_060607/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5c1b1c0737149f32be85aa8d0c21d19faaa412
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1889",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:42.792862",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060607/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060607/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92e9fa180cc738d01347b6f285a04d4df2ef85b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26306a3aa210ad70ab0f1c2a58de03b241f0d18064946a5a257e137d4f33bb74
+size 11564986
diff --git a/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a3c6630bb2614a2d762156653ff837f22c4e64c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7c01471bf7f94525cecddf3e9400a8c10745967d35e054e691a125331e7dc9
+size 3032183
diff --git a/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..667a8c31f663f38b78f0370d4588d8bc6593dc33
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4845258e6921c2907989737eef8c6cc6d782f4c3908bfda90729e3f8f5eea8d0
+size 17925372
diff --git a/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb99bfda33e6aebec102f59f5d447889747ab493
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d69b49ff1b5e163793c7fc4f534ad9f5c9319fbfdf41cf5029853ed832ea1c2
+size 17749390
diff --git a/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0f3fdfb4af60dcb6bb31b2d29fe97854db1eb44
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060607/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e30f7928d1a3f8cf6d63a019dde167c209d519dc1bd10fc55720f2b563a3106
+size 832432
diff --git a/TASK02_A210041B900443_20260723_060630/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060630/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a960eff1bbe7b0c45c9aedd692f3c66380e1988e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dce58a745d7beed748785ff109fa4af77c9d07e4739f7bdde45d3799fa1f12f
+size 348176
diff --git a/TASK02_A210041B900443_20260723_060630/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060630/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84ce6bde96cb57cdc6e3c5e482c8d5cea57d68b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 680, "chunk_index": 0, "length": 681}
diff --git a/TASK02_A210041B900443_20260723_060630/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060630/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c745683aac3a99616754b0e09c4664896cf148a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 680, "num_frames": 681, "num_steps": 680, "num_samples": 681, "duration_s": 22.67236065864563, "fps": 30.03657229404186, "start_timestamp": 0.0, "end_timestamp": 22.67236065864563, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060630/meta/info.json b/TASK02_A210041B900443_20260723_060630/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8b5b8200cc400d0d98dffcdc156973225550ec
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 681,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060630/meta/task_info.json b/TASK02_A210041B900443_20260723_060630/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3570f732eda24ec0ef1fdc1ea924455ba4d8985d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1890",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:42.431237",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060630/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060630/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..273cc3396b701aecd65ec397d0422e02505e4fcd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2800c840df8a3c9402bc06a94390bab414a1b6c13c9f14dd239d9324514490bf
+size 10706515
diff --git a/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f5e4c4f3d8a12da94ee409ad597ca3cbcd1c31c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f971b990428fa2f1085b0ba2542059bd7e16e5251565ff108571e69f5a5aaf8
+size 2608967
diff --git a/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc339f372ff293446a606a5b6ac8885d5d77f4bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d8a61dc02171107c051705d9b6b027fb3410f3532e1f690c3c5108090bd8c37
+size 18582941
diff --git a/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e30c00ccb344b3967c65195a89fe0a5b6358e2b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f287a612c9fa2bf0faf0ff937162588942213b8059c70962640573b0627e5f83
+size 19336119
diff --git a/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d2e16042b74d6eada867186a0636197cba43e4d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060630/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13367fd49da1b978fc516c7bf1b0ff00ee65f5732616d7740a1e38749ff8905
+size 1018919
diff --git a/TASK02_A210041B900443_20260723_060700/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060700/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7184217eb344bd8de239eaa5298b8d360556142
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff014ae0412d577ce0f8a8329fb254e856ac4e429a5380049edc356aa77b50c
+size 297506
diff --git a/TASK02_A210041B900443_20260723_060700/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060700/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52c2b37ca97be3997002b984bc5f59eead2784df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 569, "chunk_index": 0, "length": 570}
diff --git a/TASK02_A210041B900443_20260723_060700/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060700/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d003b65596ce2cc0b0f95a92c303c158b5e3dad
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 569, "num_frames": 570, "num_steps": 569, "num_samples": 570, "duration_s": 18.9760103225708, "fps": 30.037926324377047, "start_timestamp": 0.0, "end_timestamp": 18.9760103225708, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060700/meta/info.json b/TASK02_A210041B900443_20260723_060700/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4adc1fe2a00f0e59aa95395594528227b33532c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 570,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060700/meta/task_info.json b/TASK02_A210041B900443_20260723_060700/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b59d1cff93ef2259c7a42690d576192449557361
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1891",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:42.190020",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060700/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060700/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbae970e833356f49ede92b8bcf33374bc3c56f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03052bb39cd89937041b634300c7ca4e3d7fd249e6063392717be589aedc4c2
+size 9931087
diff --git a/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e15dc97b0f63d89ece7ee333597badb5909b075e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3679e2df4240efac7ff740853ea06e8bb13f33922a74fddc9483311494ca34
+size 3492214
diff --git a/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..652f927c9d3de4ca032389423ef07dc137d79814
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13985a20fcf545297246c6d7ab50070f1ce6e3df3de354803e72ae1bba3c67a3
+size 15616364
diff --git a/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..114e5907c2134309aa49e90c1c1e678d0d532d17
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f305bf820ffb4c3f4b68e6e11adb738527d3ecd0fcf69a023dce4306aa27349
+size 15987822
diff --git a/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0447ef0611624c4342967f55beecc8794009f888
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060700/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209b230c350cc7bbae6ce55bbeb1b7a6f2f1986f9ba7909ed887c44e703334d3
+size 935422
diff --git a/TASK02_A210041B900443_20260723_060739/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060739/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d9680aee88ee4ec55a367e98a3ec0e2b9accdc93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84be223723d383cfca97804f8b0167fae6f8ecfbffa1db0a3fc602a7ce17ae95
+size 284743
diff --git a/TASK02_A210041B900443_20260723_060739/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060739/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..163edb588da1a4059270a614d46bf57f9bcbf7b4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 604, "chunk_index": 0, "length": 605}
diff --git a/TASK02_A210041B900443_20260723_060739/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060739/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..299e0fb20cdbc755af598a21746e3bd23484a5b8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 604, "num_frames": 605, "num_steps": 604, "num_samples": 605, "duration_s": 20.151514768600464, "fps": 30.02255696145951, "start_timestamp": 0.0, "end_timestamp": 20.151514768600464, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060739/meta/info.json b/TASK02_A210041B900443_20260723_060739/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea3294a7f5d7eb2935fbf9c4b8732317562fc10
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 605,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060739/meta/task_info.json b/TASK02_A210041B900443_20260723_060739/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..018cd525b6fd002aa350b4496e4329ad2788f31b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1892",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:41.968685",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060739/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060739/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d517ad5f22192f824728878f0d248d432385a604
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90f594c1ca36ccd50fc4acc26122210b4fa5b755cd2631bb0a806c759bbef0d
+size 11035627
diff --git a/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e93ca02de8d09c2cc7a971844fe74be6e08b5733
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986d2ca9f6f6a0f3dc7ec10221076e4f272248c6c739b7a4af2050d473885210
+size 3164829
diff --git a/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaa5b2c2e4410de6485e4c2fd582364c19226460
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796e0242c29878bbb6f60141542650633ea9a0f0904b43450fc9085aa05f1361
+size 18048549
diff --git a/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93ab8a9db589596bac6465da94cfceccde13d389
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f13312b4963786cb004a909f4ab021cdc0b06de7327fabd7bddf077e7b0f432
+size 16693985
diff --git a/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9dacf4b0f9da1dd278bef71abfd3f00cc36af98
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060739/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c731b6fc4d436e4d073e70c5b6134f54d88046470f2b67be3c63b2717e8ab93
+size 802237
diff --git a/TASK02_A210041B900443_20260723_060807/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060807/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d51b63ce4ba884f2a01250f07cfbb466704c41bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb0df9b48fa83e8a305c2941195cfc5f4272d724ad9369199a0a75a726b7531
+size 294091
diff --git a/TASK02_A210041B900443_20260723_060807/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060807/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f31af993d4b6beb769977c84f1311d45ce93821c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 592, "chunk_index": 0, "length": 593}
diff --git a/TASK02_A210041B900443_20260723_060807/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060807/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..31a0c197a4cdcb1c48d9f1fb48d7a38d8f7746fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 592, "num_frames": 593, "num_steps": 592, "num_samples": 593, "duration_s": 19.764795064926147, "fps": 30.002840811252085, "start_timestamp": 0.0, "end_timestamp": 19.764795064926147, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060807/meta/info.json b/TASK02_A210041B900443_20260723_060807/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b3cf563a43277c2a0af7d9717fd049cd174b91
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 593,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060807/meta/task_info.json b/TASK02_A210041B900443_20260723_060807/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..857fb88ceb413d0a3f7011512d3f8fa4c1e436be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1893",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:41.683030",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060807/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060807/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03fadab52ce05d03fb3e8f705db1dd829cdd1ae3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbe6f3d275d6f38a0c24d07588f6562b699071c4cb2c132d6f785ae5b6e20b4
+size 11258207
diff --git a/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd33d7c950a7de6363c08272bc788f83ef9a2efb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5b160b5e1de6d360ff8e7f1edde57e7ff11c2cc90e12faea63005e037ffbe0
+size 3728693
diff --git a/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c83a25d1526f3aba2db09c3cc0f0ccd27d21099f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21fbd41d5e04f9d02117309426bfc575d89b92a64d438eed82b091c27e89bf7
+size 16315635
diff --git a/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5467e48575710caa061f28f5eecd9ae8ed7ea7a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59dcaa2e16fa0fc3a05d5276f9132188d27e6769a47f0a5d6b2b4a6268980a24
+size 16620960
diff --git a/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7959173ea785aed281f0e731aeae28d5e75b647a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060807/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c08eca43209cbd0186544b855abad8f4fdb524feee80b19d85f7af9984a51bb
+size 894427
diff --git a/TASK02_A210041B900443_20260723_060935/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060935/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..11a1d32bb2c54d872998fe8d4259824c04da01fb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a835756bc1cb92629cc9b3f24efe6418424b57d0f80d84d3adb826e424768d7b
+size 298722
diff --git a/TASK02_A210041B900443_20260723_060935/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060935/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5316bc1057283e98a02d49f5e21ddc4a4439bf58
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 552, "chunk_index": 0, "length": 553}
diff --git a/TASK02_A210041B900443_20260723_060935/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060935/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..558fb4029e3363f1202d1f4ae5a0e0ac0caa6858
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 552, "num_frames": 553, "num_steps": 552, "num_samples": 553, "duration_s": 18.406667470932007, "fps": 30.043461200855784, "start_timestamp": 0.0, "end_timestamp": 18.406667470932007, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060935/meta/info.json b/TASK02_A210041B900443_20260723_060935/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7eef4878074ded05adec3c1a7b79cfc6516720e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 553,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060935/meta/task_info.json b/TASK02_A210041B900443_20260723_060935/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90ee7f1437534074e6d96d0668a196277752d05
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1895",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:41.564603",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060935/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060935/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb944461fc53604a83c571e4eb76e68dcf9cd44c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:156afad4ab82f121be816fd30637c2834b5a4d00a6ea0a13021c6349976dec14
+size 11298138
diff --git a/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edb90bf371af439244d2926dec1e2b040c955a69
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9fe41291ceced77a00bd57ddb32ae1e55c089669e483521a3594e2b9b536aa
+size 1796175
diff --git a/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cfa9e20c1acefbfaa4150c0680a0f89c711be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00249ad828cb0c584a27133810321871b2dc16016796cd7b0ab4b82b97aa4e18
+size 16601856
diff --git a/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c201fb44f881a57a8d7c3724d5231a8611728b48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a3d2598745aadc20de046f66beb7b8b7a05910e8059e13882032ff66310513
+size 17141286
diff --git a/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..778086cb09dbdf668364852be8ee5f9322ff8623
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060935/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c3880fc88b9ceb4cebde08759caae775a85312d885ba21e3b0ea939407ba1bc
+size 481913
diff --git a/TASK02_A210041B900443_20260723_060959/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_060959/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..47cd245a919d4d31993ba69ec4cb64d504e85e43
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc04b0141d23c5e0ee9d61691bc0eb43d19aed08b1e96377403f17c6290ada1c
+size 305658
diff --git a/TASK02_A210041B900443_20260723_060959/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_060959/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daec1ab4d20f35050a1007f7a38cabfa89060073
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 574, "chunk_index": 0, "length": 575}
diff --git a/TASK02_A210041B900443_20260723_060959/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_060959/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b379f83347da5b24638f2e1a2754d981c7bb4745
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 574, "num_frames": 575, "num_steps": 574, "num_samples": 575, "duration_s": 19.149038314819336, "fps": 30.027617603909157, "start_timestamp": 0.0, "end_timestamp": 19.149038314819336, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_060959/meta/info.json b/TASK02_A210041B900443_20260723_060959/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04bfa1f884eedab2c6c6c0b2af35e10596ef2214
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 575,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_060959/meta/task_info.json b/TASK02_A210041B900443_20260723_060959/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1782db2c386e79c63c944731dc2a68380fcb0fb9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1896",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:41.453275",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_060959/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_060959/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f3684e59abc538492872eac6a5200ddf6f1d064
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbdf40442425d7ab3c17ddf421f7937fb938f049a7b97b88f1ee4aa83bfde1f0
+size 10905764
diff --git a/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9fe6d4713914e5b8df391974df8a44766e20c77
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ac753833db588c8ec7ff9d612a0ec3f373f495ec17a4f0e7087b385ea4dca3
+size 2984611
diff --git a/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfc3163a2eef9126cd656f3eeec854a8b872f8fa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165651d36c39ff550bb1db038afd454ad72653bfcde2f07246b6300e7bf55672
+size 15660451
diff --git a/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7970720d7d66890853e538a2e27c44dc4425d529
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e4cd259f631b6cf8c517e06e0d8b9456f74fde4092c629fdf4afd4f18bf452
+size 15491638
diff --git a/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72ce53c3a6a9aa40294d3c272c1bd374f94a53e7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_060959/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b29f87cb4753a6288bdc3e2b9092e6952ff3d6374ef49d17bd218255c167713
+size 763191
diff --git a/TASK02_A210041B900443_20260723_061022/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061022/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..195aece87236a8357d3f8980f9e4dfdaf11e45aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f6412ad1793321ea704028483025af6d8cf7fc85354921c41ca7403c29a4f8
+size 333068
diff --git a/TASK02_A210041B900443_20260723_061022/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061022/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4434c9f5a16ba48274a9e4546de69207e233f208
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 652, "chunk_index": 0, "length": 653}
diff --git a/TASK02_A210041B900443_20260723_061022/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061022/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e06e48937d1e263da5869e16af11341f597cf250
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 652, "num_frames": 653, "num_steps": 652, "num_samples": 653, "duration_s": 21.739385843276978, "fps": 30.03764709396994, "start_timestamp": 0.0, "end_timestamp": 21.739385843276978, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061022/meta/info.json b/TASK02_A210041B900443_20260723_061022/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6775c3e0b0b43d403f532620750736145a2aede9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 653,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061022/meta/task_info.json b/TASK02_A210041B900443_20260723_061022/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43bc0d18d3ac028ee44469ea10966b6777acd2a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1897",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:41.199017",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061022/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061022/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..934add048b17674f6085fc4a60c69f5d89f8cec8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f29f5e8f065b0252ad70239649b67466c485bd3c3a88e867f3c67f9f3bb0ca0
+size 12264671
diff --git a/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df4972f87cd311b783d9b009fb736249e78e2e0d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44fca9b9a707094b6e2b143839eaab4d79d9c7190f97dced6c5df0b7139c7596
+size 2993401
diff --git a/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e5ce8fa1db4ed3be4d9256699e5e6cf603b04b4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451b5925c467e6fa31be8bfed9b478309236fef99d4299e265a1ce8b55874195
+size 20720088
diff --git a/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2901ce392c8ba2fe7761745d1b3ace1df9bdf5ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d8aef3d0811db5cfb3f8796af3c85d211d249a5b63daf87241239b3d19ec9d
+size 18259297
diff --git a/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9926bae8c79d2c61ca67df8f24b44df7bd7211b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061022/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf39c24a9c7e13200ef0071f4dc815f5b28963360242c34df0574c8a8d5ee3cb
+size 835085
diff --git a/TASK02_A210041B900443_20260723_061110/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061110/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..49d17db46835cd3c6d5f4f6fd36cf1fa112ebac0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4901446a54cfe8826d41526f81d396d9cfd84591e34a08f16c3af1152a1c63e1
+size 326188
diff --git a/TASK02_A210041B900443_20260723_061110/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061110/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ebcfedd74a4faae67b3ae9de78611a0100e22d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 660, "chunk_index": 0, "length": 661}
diff --git a/TASK02_A210041B900443_20260723_061110/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061110/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5f42d9b663e8c25cef96e2425201ea9d423893b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 660, "num_frames": 661, "num_steps": 660, "num_samples": 661, "duration_s": 22.00472140312195, "fps": 30.039007897015217, "start_timestamp": 0.0, "end_timestamp": 22.00472140312195, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061110/meta/info.json b/TASK02_A210041B900443_20260723_061110/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ff273b5f0e42bb3f0e3517537ffd04d0c59519
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 661,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061110/meta/task_info.json b/TASK02_A210041B900443_20260723_061110/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98dd2cda1c0438b43423a84cc775fab59e7c8fb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1899",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:40.915144",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061110/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061110/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6759a658fdf2f1e1932add8147bfae7ed0fdb101
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16bd801195ba33274bc43fa0894994db57a08d463945fe64234d5fdfdccbcc0
+size 11119929
diff --git a/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5837ab15c812139b711c8443cefc9e145c5a76e2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e90ec5194efad5c7c2a1e711cedd4e4a02f4dbdfd42ffc523a6042839fd1c7b
+size 3346327
diff --git a/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0815dc2264f6dd4152d5a05a346aee92ea78789
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdd7862285c6b827eec91843f65f8bdc86a86173fadf68ed81e5fc7566853ef
+size 18639902
diff --git a/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79da75e96deb815eb9c21488252724fc8ba3e934
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93fb4895677a4208ad8f41e57c76e3768ded2a3b907ec100ba19539e5103c311
+size 16859657
diff --git a/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7382f34bf7f85da1cafd34d30d73230388fad31
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061110/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2b83200409acc9bf23945e2af5379dcd5fd2abdab7b3787fc0e1ee5be025e3
+size 1151585
diff --git a/TASK02_A210041B900443_20260723_061140/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061140/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..40fa17574ac786e7869b5430913bbd84091057c4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa231345ad84f3ea33f8f81364d2ca2315315b550602a0fd98f2851bed4d793
+size 261801
diff --git a/TASK02_A210041B900443_20260723_061140/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061140/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..853bd75e9ed35691bf14c78c47ae6fd6c27bb922
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 501, "chunk_index": 0, "length": 502}
diff --git a/TASK02_A210041B900443_20260723_061140/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061140/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a71f45f7b7175ede1e987991179e54617c44a297
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 501, "num_frames": 502, "num_steps": 501, "num_samples": 502, "duration_s": 16.7001793384552, "fps": 30.059557435054227, "start_timestamp": 0.0, "end_timestamp": 16.7001793384552, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061140/meta/info.json b/TASK02_A210041B900443_20260723_061140/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0275d16785944ad403c61a11ecca86a81bce05b4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 502,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061140/meta/task_info.json b/TASK02_A210041B900443_20260723_061140/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..86484a555aaa63c55ae65f7d2555db408100678d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1900",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:40.655991",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061140/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061140/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fac5d936857e2412bde50bc7e91264b67597e7e7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fae4771b57b98cae23e765554c58110b4e5c1e91c697ecf54d728088af106a8
+size 9007870
diff --git a/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46a0afdea98e5882faf972319fe738bf0d216efa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e98d169304321b10961ff4140a98b9a2247fa06e421c5888f87a1271251ca08
+size 2764790
diff --git a/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34c39f38bcbd56c839c6840f854680c7dea7150e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eec811d66a089f8d43cd8449dd46c2dcafc463938f158c0c47afca52ebeb198
+size 14951718
diff --git a/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..896fb399e41ab28706d87f787b9f395fce970dd5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0536baa72e317dd1c55ffb7ec5b684e6e5ebd0ab580224656cf689bf53432685
+size 13864196
diff --git a/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a14b649b5dac74ca763b86088827cde70486719d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061140/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921531ac0c0f259f717ff5d2e0c79f0f097c4f8ab8fca13570a6e3d65553f5a7
+size 785582
diff --git a/TASK02_A210041B900443_20260723_061203/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061203/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..232830ce3cc58433679053b334a3c8292399853a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a20494040bd2f892a31dd06cc5dacddf910557837897f14494be7165f5a0d46
+size 329500
diff --git a/TASK02_A210041B900443_20260723_061203/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061203/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4434c9f5a16ba48274a9e4546de69207e233f208
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 652, "chunk_index": 0, "length": 653}
diff --git a/TASK02_A210041B900443_20260723_061203/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061203/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7dba05ba53f68a1962fa483a70758a50a123c33a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 652, "num_frames": 653, "num_steps": 652, "num_samples": 653, "duration_s": 21.739109754562378, "fps": 30.038028574880126, "start_timestamp": 0.0, "end_timestamp": 21.739109754562378, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061203/meta/info.json b/TASK02_A210041B900443_20260723_061203/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6775c3e0b0b43d403f532620750736145a2aede9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 653,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061203/meta/task_info.json b/TASK02_A210041B900443_20260723_061203/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7cf4dfced9f70357f2dd3ec83bf8ad4e5a2ff70
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1901",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:40.463008",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061203/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061203/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e8aeef57766514a79d3985c35e2c976928ea4f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2188154622bd2ed4e47e59ffc7a67ab777b17695eb93f6936a1d0b9e0f9933d0
+size 12765437
diff --git a/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a66577cfb4c63e6ff4f46826dd71de28be5abdfb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77e2042889455f71966daa120db883d57891fc50730e081e0c4780321a00de6
+size 3364990
diff --git a/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d46668f743471d1609ca2c847e82e699c9175b99
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b67aefbc2fedd96a3d977bfe1978141bffee84860488452e493c2b5d2bfc63
+size 19828531
diff --git a/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f63dfbc81245b7edddb793456fbd2cbcbe44ab2d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec119142bd9411355ee3e5e8448000f527d25328d904554533a509b2eb8582a1
+size 18338062
diff --git a/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b89e505b72290a01cb55a922d22c48c31791ab00
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061203/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620f786c5f007e0599bcd069ca57c10f86274bf115820252d458bb5933a9c3bc
+size 795683
diff --git a/TASK02_A210041B900443_20260723_061233/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061233/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2552543f283118920871ae76e593a135f4557c28
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb8a378fa6dbe4924ea7e0fde1af54427a526938af56172152a739a4e4f6ce9
+size 322873
diff --git a/TASK02_A210041B900443_20260723_061233/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061233/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b741ea8916b4709b36a9ef76bead2014df5d168f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 642, "chunk_index": 0, "length": 643}
diff --git a/TASK02_A210041B900443_20260723_061233/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061233/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..845f6c225714105db414473a9f2f65b8bc34ecb4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 642, "num_frames": 643, "num_steps": 642, "num_samples": 643, "duration_s": 21.406394481658936, "fps": 30.037753464317607, "start_timestamp": 0.0, "end_timestamp": 21.406394481658936, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061233/meta/info.json b/TASK02_A210041B900443_20260723_061233/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..31641271a63689c2e4d24310dd907348025af6c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 643,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061233/meta/task_info.json b/TASK02_A210041B900443_20260723_061233/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a647346f9c9531e3cb9df1ba3ab70712b9ebad0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1902",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:40.296419",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061233/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061233/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd2767ac8fcc10350060816075b7275fec5dc295
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ba2eb4f53d8490e904ba11501f45760773ba603ea6a5034851a13cda1f330f
+size 12946021
diff --git a/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60ba139aa299335fabfef73e3e4e9e30730cfa17
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1fdd04ad9061ad5e6d201926b2a6f75f8c100389062ea20d57e3c2e24c3841
+size 3590496
diff --git a/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52fb78ba32d544640d5cdad2cd4832fb680447f7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bed5970887726d22f224b0fdca0f9c2c1cf243b53bf079b8e7e2aa7635c30c9
+size 20125342
diff --git a/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71681af4fd07297301f5078926c90b3d415acfb9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b3a319ba1a84e1ea8df0408c36b4cd9990e0a18e7db4462663978a34125266
+size 18132752
diff --git a/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5376cb786561d9ef3ca4d70b1b69446ce1b330ae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061233/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191c6db83c3bdc0bafd87e44a87efc85c7d96fcc3377ac6d21a99a50aa5f076e
+size 865172
diff --git a/TASK02_A210041B900443_20260723_061259/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061259/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fcb97e40fab2ae5eabe654b224ce0539981fa787
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d67b3ca508449211e63a6897c4a5c8dc52db09fee838810a3c7bac424562f5
+size 315623
diff --git a/TASK02_A210041B900443_20260723_061259/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061259/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e8c7907ec3a02073e09d7031a48b8902c67ff27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 618, "chunk_index": 0, "length": 619}
diff --git a/TASK02_A210041B900443_20260723_061259/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061259/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81fdac494bc010066aa655f3ab4f34a3c76e04c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 618, "num_frames": 619, "num_steps": 618, "num_samples": 619, "duration_s": 20.60119652748108, "fps": 30.046798455336397, "start_timestamp": 0.0, "end_timestamp": 20.60119652748108, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061259/meta/info.json b/TASK02_A210041B900443_20260723_061259/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70de1e77dd67e3500aaf3695389e6f6f2581334
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 619,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061259/meta/task_info.json b/TASK02_A210041B900443_20260723_061259/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9637a874846d25d17bb94c775f093a6d28e7d9b2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1903",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:40.042972",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061259/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061259/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82f778760abe2c27295f87a3b23241249292988b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a0427a49b69c6618990977f4926151160c0c4d3a445e802725342039d51c0f
+size 11953765
diff --git a/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d3863dbdb033153b423930f4afeb21a803160ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c616fdfd8360f6494c3c58c73298086c0972de3a739b6cc2cf8a0eb0b271aa0a
+size 2877227
diff --git a/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e373f4a758cea83d2083d513c95ae602227a56e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a965306a5839cff4afe4e641fbd982698143e57c0991ba9a32ee228a880c0fd3
+size 17010386
diff --git a/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e31a0bfbb5e4588dbb4da19d40d4329239420f16
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc09570337fac95da7a36b7901212ddf93aae144778fb0aea6f3f43f951f2ee1
+size 16879573
diff --git a/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..581ed662ac7ac1e5ecb2507a6148fe96b3031a91
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061259/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba629ff778e4939a83e0955f1e129825271150625985932d181edb123cb440c
+size 805538
diff --git a/TASK02_A210041B900443_20260723_061324/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061324/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f861fb7623e6c1fbbb44c8e65306866917bcf89e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df8b80e3b4bc144f72eb2341f72dbb4c1eb7dfb69ef0fddcb535316a4f166f6
+size 321216
diff --git a/TASK02_A210041B900443_20260723_061324/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061324/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee49c1d5931220dd2237e4ca5826cb4d802d5ed0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 606, "chunk_index": 0, "length": 607}
diff --git a/TASK02_A210041B900443_20260723_061324/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061324/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..903f21ec16f0e23e09135a86cade3dc2f4d623a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 606, "num_frames": 607, "num_steps": 606, "num_samples": 607, "duration_s": 20.232145071029663, "fps": 30.00176194214627, "start_timestamp": 0.0, "end_timestamp": 20.232145071029663, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061324/meta/info.json b/TASK02_A210041B900443_20260723_061324/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..92cddd24e27f3419abfd97a2b0a84d18cf34a5f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 607,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061324/meta/task_info.json b/TASK02_A210041B900443_20260723_061324/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06fcd8c6e5d62720b0da1b07404748893a7b4b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1904",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:39.677904",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061324/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061324/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40944c3ea5658e6c57466dcaf141ee6f1125fc32
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf42fa5d4cd1ec4c96cdefc2b94acd76d95fb2834c5d05313746c8e92d8a1df3
+size 10325222
diff --git a/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ea85ba24102ec5e8f45526e0ccf2f34da04d551
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3853ae9994a983d24e9b27618ee4eebc44b296cafdd956354939dfd08cc187f2
+size 2713229
diff --git a/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ee480c2ed8f1e7de846d0cb93adc002e704de19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281e49a2fbbfa9cfe052cecb257039570da3b852fde8296785a68bffb21560f6
+size 15810668
diff --git a/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b1663873904f93fa5f965e034d9805043dc9a7c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4671cce2313bebb4d5d38f3e636be2ba0e03b552cb2d51f03ddb50cc99815c42
+size 16545326
diff --git a/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daabd016d8969c194a0639df40b9889096f80621
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061324/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a56ebb89c54b4043dc08d2089217a512fd36d2a45248591bc9e500f4801f47
+size 894090
diff --git a/TASK02_A210041B900443_20260723_061621/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061621/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b53e39a3082146d5cb0e69ee0b62c66d0b0412ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b28a04e192c78e5dcee2923077a652714e92bdb66ebb87a21c8c03f8d0fc20
+size 250275
diff --git a/TASK02_A210041B900443_20260723_061621/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061621/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..365802fb9d59fc3ae97e69b3db12493579273eaa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 465, "chunk_index": 0, "length": 466}
diff --git a/TASK02_A210041B900443_20260723_061621/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061621/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec0087b2cb3a9f54d51666039c8df52898b61dee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 465, "num_frames": 466, "num_steps": 465, "num_samples": 466, "duration_s": 15.52491044998169, "fps": 30.016276196977973, "start_timestamp": 0.0, "end_timestamp": 15.52491044998169, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061621/meta/info.json b/TASK02_A210041B900443_20260723_061621/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..df50d5f2f6461de71c9d3e5da1d3aab93bc43b84
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 466,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061621/meta/task_info.json b/TASK02_A210041B900443_20260723_061621/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc3c8b4a2683c8992380d39e607b6414cb49920c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1905",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:39.449465",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061621/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061621/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be1e2750c282a4ebc54a57dc244fd38aee66baab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4fe9245566a15b48bf3c349601bb77645d897d44d9b3cadc8066a1b5b31058e
+size 7582426
diff --git a/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f3d9b4115c3c4557ff691a4ca134c66da25b65c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12eaadfc865110ba2fbcb6ea72cf901319707c46931ccdf4135c0e59b294de9c
+size 3120379
diff --git a/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97a13734453d1a482c672ac647643831e85a9384
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33415acb5b880cd049b0a5d3c1f00f8c7e0b56e0def5410cb43f45c2639e9179
+size 11889005
diff --git a/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c686672562349cce3d5ee4e58bbb81c978613433
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438172ec708ac66b94ecc2ed03fc3378f2dc04274c38608461a7bea0c9eb0ef8
+size 12387260
diff --git a/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd770145003f6bb8c3ff74567c69e4271465f378
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f795e51643128c500e13fd599fb2bcc494cf4eee8a2d1c3f2681c8513844d8
+size 752036
diff --git a/TASK02_A210041B900443_20260723_061639/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061639/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8f78843aea19dd9f256f6a6bfee6a26b2a9c94d3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2494857c17da7f97d3450d404135e210716f0fc66907032519aded3ddd0ab1fa
+size 310039
diff --git a/TASK02_A210041B900443_20260723_061639/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061639/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a822aca8033a17c367a5eae169ed352bacc56c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 611, "chunk_index": 0, "length": 612}
diff --git a/TASK02_A210041B900443_20260723_061639/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061639/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc869eff75449cc8fd94de499a4add79f42acc9e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 611, "num_frames": 612, "num_steps": 611, "num_samples": 612, "duration_s": 20.38812494277954, "fps": 30.01747349094699, "start_timestamp": 0.0, "end_timestamp": 20.38812494277954, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061639/meta/info.json b/TASK02_A210041B900443_20260723_061639/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..112e9e21ed5fd1289657866e90f8ed6f01f5c32c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 612,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061639/meta/task_info.json b/TASK02_A210041B900443_20260723_061639/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de866fd2148515156d15f195b6e3a8cd7d243470
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1906",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:39.120195",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061639/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061639/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a898220a4f22ab0df32b052dc46ea829b72fe3be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9253ee0f9b12d24b7a9b937233ad94155c25d87a6f51365c4ed76e1c06285e0c
+size 11055850
diff --git a/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18c719b0624a9e8f760683ead59e2ce45f5cc4aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3294bf6f500a9a160ee3dfb975c44b3952fe66d39a756f516712d37520bea229
+size 4375112
diff --git a/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa1c92e8d5e35eecb2158f59a48541679dab7c77
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08bc56fd99e78cd7e8a06c7b82c699555d6065073a625bccdc4948f5e3cee1af
+size 17331089
diff --git a/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cda0525fce26c8a710fe4ae64739417fc8ca42cc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca8ad32854f56aa0b46834496539b5877f1fba07b89ddefb56a1d66499f904ea
+size 18252737
diff --git a/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a01e254fa51d09df58ae7601983b2a87af6f255
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061639/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f30c08d988092ad25829510505ab8fc19d48b026b27cd1160bafa2e9285c38e
+size 1034154
diff --git a/TASK02_A210041B900443_20260723_061703/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061703/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0fd69977b7a21ca6ef1f12bd50cd04ab5fae4508
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560dda00ce97e5b62122221d1f053ce7cf70763dc97196833f0bd0304da3c417
+size 260251
diff --git a/TASK02_A210041B900443_20260723_061703/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061703/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e32c0e1199f87a803df42c8288e0f230017ad808
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 520, "chunk_index": 0, "length": 521}
diff --git a/TASK02_A210041B900443_20260723_061703/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061703/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf2172188d71452f748748d7a814b7120ce1d888
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 520, "num_frames": 521, "num_steps": 520, "num_samples": 521, "duration_s": 17.347247838974, "fps": 30.033582550741635, "start_timestamp": 0.0, "end_timestamp": 17.347247838974, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061703/meta/info.json b/TASK02_A210041B900443_20260723_061703/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5425a11601b6194e605d5a2a2faabafd37589921
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 521,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061703/meta/task_info.json b/TASK02_A210041B900443_20260723_061703/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fa780b8a4903637e642b09ee9d715f962dfc66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1907",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:38.785281",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061703/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061703/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..472f515d3f5a699901d39404fb035b2245d3f51f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0583426de1730594c35255685fb4a05c52768aaae32da8ab1f263695131ccf43
+size 9104917
diff --git a/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e51d571c3c6e3996be12a7d298189167f8e29bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29073e3975a93bd7d98f2916a9850f4b7ca3c7d031d617fb6a8be3fc60509f62
+size 2943012
diff --git a/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02f8cfb5b962cff4a027f3cf1ce20588a0ae335e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb888d69bac9988127bb740d2f76da046802a264235a2df16124cdb5d91feae
+size 13758236
diff --git a/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..338d4d2b1a8d852be50c90970613fc111b481203
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6f14bdbd43fb02d463f944b9c83311045262a312719e53a0d34eb8c6d475ec
+size 14034352
diff --git a/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d3d3b3501293c6f7b62f9b912586c7aac2b8a2a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061703/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db61b6a468654d97e0d40d0c07a4da23d12644aeaed010d007ff59113f849930
+size 804927
diff --git a/TASK02_A210041B900443_20260723_061724/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061724/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a9a225497d9d4cf2d4dd241c6d85813d5ae99b6a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085c5bcb80054af8dbbe7c4fd69f90a94d3722b6dff7cdc396765f50d82b19b5
+size 263532
diff --git a/TASK02_A210041B900443_20260723_061724/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061724/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2aa5b77b012abf787432636aee39eb4fcacc340e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 495, "chunk_index": 0, "length": 496}
diff --git a/TASK02_A210041B900443_20260723_061724/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061724/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34a69f9a2803bc4782fa9880d3a6e73ec52db4a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 495, "num_frames": 496, "num_steps": 495, "num_samples": 496, "duration_s": 16.532034635543823, "fps": 30.002356693204693, "start_timestamp": 0.0, "end_timestamp": 16.532034635543823, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061724/meta/info.json b/TASK02_A210041B900443_20260723_061724/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9845cbf31f8fbc50a8fe371beeb250d1d5b1e8d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 496,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061724/meta/task_info.json b/TASK02_A210041B900443_20260723_061724/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a086c788556ea97e89947ac142105b269c2a2d53
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1908",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:38.582158",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061724/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061724/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee20faf614b3935013114f521e56769156fa7759
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af036fe71f90220307d96c64ff9b2a4e3a0591643ccbfcd9327f0890f0390ef4
+size 9498048
diff --git a/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4389ae67e8733a6117f7582efcc7b19d49f5f13c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd3401ab6f02752e169ab00c83c7fc51baad8b97ef98fa14e6fd5cb7b211f62
+size 2413561
diff --git a/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..430c9d12785d43fedc2fb94d5a293dc0e9984850
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a525594cfb21103b8d2ba61b84ce1800678f7a3deb4082dc13dd3dfc98c9b7d
+size 15671584
diff --git a/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01f85b3b9b429673c09c0b0afd5fff05e8562a04
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4834815c0516f318130fae36d23cbfd254553508beed1ab587a4a1198c9f123a
+size 14442556
diff --git a/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ab5d7e5b00d5cbe2266489b67eadc4873af8010
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061724/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a7a41fa0627d675ed73ab31d61ade51a0d679624eed84dc577780a07c3550b
+size 647952
diff --git a/TASK02_A210041B900443_20260723_061745/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061745/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0ecea1b8adb0851622df360cd613312886734a46
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1bb83c63c439cdd305ef399989c5bbb537c22ba13204a3b3fbb64c755fe5bc
+size 342938
diff --git a/TASK02_A210041B900443_20260723_061745/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061745/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..387d6c24c872158fbb2c96b355de37300f794c09
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 673, "chunk_index": 0, "length": 674}
diff --git a/TASK02_A210041B900443_20260723_061745/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061745/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..883c09a3e1db667320a867b6a31ed6c1dacb5b0a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 673, "num_frames": 674, "num_steps": 673, "num_samples": 674, "duration_s": 22.450090169906616, "fps": 30.02215113164526, "start_timestamp": 0.0, "end_timestamp": 22.450090169906616, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061745/meta/info.json b/TASK02_A210041B900443_20260723_061745/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd2391b26106441fd7bfcf1ac6426c82e63d336
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 674,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061745/meta/task_info.json b/TASK02_A210041B900443_20260723_061745/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c960d3322a69771b53ef47a8c7a5d46c26e2dd1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1909",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:38.423632",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061745/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061745/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f7563debb91b69e39aea1b7250b7469013e95
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf1c45dfd7105f1b96a64757194e73ca175e716428ec6e17ef467e4db42d4ce
+size 12967783
diff --git a/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17aa1a6ecb14b7aac717597fce4d1c334c1a2fcb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c385d2f08712e830bbc1bdb37765c2609a52ebead1a3b2dc61315e83769ab1
+size 3414571
diff --git a/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..923ff4369d4873ea7ff7e6ef3b22ed02296eb753
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e7fac403e8a0aa5cf8ddc328b1bfb6ea5cc1d51cd6065b519b15563cb821c8
+size 19244430
diff --git a/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bfaaa914fd3abf3785242b72545dd27bcdb977e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:645396a93bf5a83fae8fabb87dc3510f0971bc29818ea7672beae8f5b60d0172
+size 18991304
diff --git a/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fb6935a9055e3b8d0bb6bcf4bc08a00ce22ed57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061745/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1a1f04f475a694a3084c10b8013896e9e77fffcdc481532c98f471ad0733b6
+size 856644
diff --git a/TASK02_A210041B900443_20260723_061820/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061820/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..456092bcc8fb43d84d88898a09c3173d805180c7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc6ec91024524c97eceae7cec7eed0d3a11e04e05096b93e2e3f49927baa903
+size 287066
diff --git a/TASK02_A210041B900443_20260723_061820/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061820/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f047fc7e08a4bbe6be4607bf295338d2ca832ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 526, "chunk_index": 0, "length": 527}
diff --git a/TASK02_A210041B900443_20260723_061820/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061820/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..623c6af9f4d6344825649d47f4a0e1cce602bdc2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 526, "num_frames": 527, "num_steps": 526, "num_samples": 527, "duration_s": 17.548123121261597, "fps": 30.031701758547502, "start_timestamp": 0.0, "end_timestamp": 17.548123121261597, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061820/meta/info.json b/TASK02_A210041B900443_20260723_061820/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..237b7d5a3f1402cf5ac2c215831a05641ed378fd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 527,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061820/meta/task_info.json b/TASK02_A210041B900443_20260723_061820/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81fe07aaaaf0e077d0aa6fbcd1fc770ea72b9724
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1910",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:38.216055",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061820/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061820/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a23207c4f9129c6f5266dd73b9415c26427da48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c980ed024fc2a9ebc6755e845fb51a9cd901163b51567953e43c9fe06dc839
+size 9640301
diff --git a/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50e78fe311a2d7337fb515b4099e9e072ef75783
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b0ab776d552ea87f8be6b0bbe66fbedcfc235a6e2cd43b13b3be056a1fd780
+size 2532278
diff --git a/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83ade475ef62fffd20d23d8a93e43bc871960d3d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9124eb75b539b3c01b8a4df7a3f3f076f9b1515380eb2100381c12fc1f4ed851
+size 15388620
diff --git a/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1409fb4e4699ad4830b9a9e7db9d27397f3b926b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259275705bdcf66ee1c00fc3ff086360488e68f9787042f747ebb0f3978b6be5
+size 16735963
diff --git a/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f8ca077b37aab7970b393a0a3627ec660202fa8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e33fe81a5fb1beac7c3efd2ac8be1e20458a74cc50e1126212663086b8dc99
+size 771955
diff --git a/TASK02_A210041B900443_20260723_061841/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061841/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7edde440fc0dd83bb6295be539e40d331e7630c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a979641c3772f4f98ab790143094bbbeabc9751a9725c076ef437c05b685dc38
+size 298988
diff --git a/TASK02_A210041B900443_20260723_061841/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061841/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f23f76c7e8d78ac583b7e4363f9d71e1976e4028
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 564, "chunk_index": 0, "length": 565}
diff --git a/TASK02_A210041B900443_20260723_061841/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061841/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0db545d77293655125bf8b2c8bfe48f7444c1e84
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 564, "num_frames": 565, "num_steps": 564, "num_samples": 565, "duration_s": 18.821765184402466, "fps": 30.01843846549598, "start_timestamp": 0.0, "end_timestamp": 18.821765184402466, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061841/meta/info.json b/TASK02_A210041B900443_20260723_061841/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c32104585b8beef47204bfb80ea594a9f5b44435
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 565,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061841/meta/task_info.json b/TASK02_A210041B900443_20260723_061841/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0264f4360494153f7b3e3cb2048fccb1f7146829
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1911",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:37.979967",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061841/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061841/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb9ef03f1eca8fe46eb801923485f3394cb1d1c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025f111c36571dd69f4af89abc093c4c8299c5364fc85cbbdea6e4b571263b45
+size 9934196
diff --git a/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae59dd862fdd50c5c53de086b1b725fb0654d12e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d45ac95ec4ee79dee57262eb499ef58af0eb58fc84c31611ee4712d79f24e91
+size 3850646
diff --git a/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f5092e3b20e0d1c1396df86d732da900a83b112
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de794dc07909d832258fc6a426e3ad3e5e37e602c453ecd452e39ac9e433b032
+size 16099403
diff --git a/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f63aa6899e2fc5fd25608f00e3085534b128c7ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64bdd2641e30c3a7343063c1197f5055263568c72be66d343c676957ed3067fa
+size 16212499
diff --git a/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2212f1790a6ccffd7f0dd2627bbc9ccc782b4982
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061841/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e789880c3adc4ffb4ec4fb53f781471852fd8bc6c80334661d279f6621751cfe
+size 938412
diff --git a/TASK02_A210041B900443_20260723_061904/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061904/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f5e69a60c6455e63d244a5e449df741a12db15bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17cfc859b816b6c4568234f9181a2646c4ee4827153b2ddddae404cdf05955a7
+size 309629
diff --git a/TASK02_A210041B900443_20260723_061904/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061904/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e8c7907ec3a02073e09d7031a48b8902c67ff27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 618, "chunk_index": 0, "length": 619}
diff --git a/TASK02_A210041B900443_20260723_061904/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061904/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ecaa07cd11b3a7061fc8097c7b8a02dca67608f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 618, "num_frames": 619, "num_steps": 618, "num_samples": 619, "duration_s": 20.61329483985901, "fps": 30.0291634505255, "start_timestamp": 0.0, "end_timestamp": 20.61329483985901, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061904/meta/info.json b/TASK02_A210041B900443_20260723_061904/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70de1e77dd67e3500aaf3695389e6f6f2581334
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 619,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061904/meta/task_info.json b/TASK02_A210041B900443_20260723_061904/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e09cba2d67788ab0d4232356f4506781210fb42
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1912",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:37.703392",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061904/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061904/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dd6e0bf68ec7fddebdbc2da6d472b9f1b70a558
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc2345d7b93e3b1d06e8d234bf8b08192f4a2d703f54922079703babc1a5b83
+size 11066810
diff --git a/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33c4d248f4cea9a3ee27397ffded3a68f0da5594
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b303d0c394390890844e59a18c5b97bb093924066e27f1c7652fe44a3821ae
+size 3256906
diff --git a/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc709983235d632ea8df47ee6f70c73a43a01373
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4216d69e72e4b42b06858a81cb515efa36ff19f98ccdd1ef521f4c51601d3b36
+size 18526129
diff --git a/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb84138de7343fe73ce709bd8d84d2380f3ae5b2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999ecc1ddef3be99708b10732b91136d7ba39d937180d0322c8ffd32f694fad4
+size 18245406
diff --git a/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78f2105e6a73dff507395d818ce1d1ab39a56f18
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6857de8fbb428225d35c842df0261630b9c72d58760e98b1ac23e753838787c8
+size 918275
diff --git a/TASK02_A210041B900443_20260723_061942/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_061942/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bbf3e8a7869e851cf2347ffac66ab68b6936e001
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a3c86134608dabab5dd24e733306d92844d2082dab1991b0ee1537c298c67a
+size 265163
diff --git a/TASK02_A210041B900443_20260723_061942/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_061942/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd8a729a86c7436ab677cc9777922a82e5ce46b7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 512, "chunk_index": 0, "length": 513}
diff --git a/TASK02_A210041B900443_20260723_061942/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_061942/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b3957a76f706e2ea6386a947c8cbdb17fc08aca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 512, "num_frames": 513, "num_steps": 512, "num_samples": 513, "duration_s": 17.066778421401978, "fps": 30.058396923738744, "start_timestamp": 0.0, "end_timestamp": 17.066778421401978, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_061942/meta/info.json b/TASK02_A210041B900443_20260723_061942/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aa25edf7d3ce85a7300eaf68b65d81aaf82cc57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 513,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_061942/meta/task_info.json b/TASK02_A210041B900443_20260723_061942/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1baee1d67c3c6b102975d0cd47e7ad6c08a81a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1913",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:37.560180",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_061942/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_061942/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1783b0dacd612b6f554d2620fb8520d950e4e5de
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10403259dce63a2d5d480afa504cc31320f64f22b333838946de5d063fd6980d
+size 7793494
diff --git a/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c11b236aab04b3f19206aa377e9a4b4a94c1ffd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418a58cd2fe04c40c26c466416bbefd5269f4b79f114d65ecfbed30d353a0eed
+size 2283509
diff --git a/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4aad83de04f48e88dfab11244f2b06b887cefe37
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ed9eb0bec05e10f40445bef61009441648809db13dadb30e9ba7011ba2f1f8
+size 11660446
diff --git a/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..414d28bfadee5c417dbf2066304cb645bdc0e7ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce63e427760bdf9c2f8e7fa391160e09aa245827943b0b0d2e7ca102c9cb3ca9
+size 14175217
diff --git a/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0679751950a000ca4b8e5a1ccb90b61fd1a08a10
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_061942/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00bcf6c0322186e28cc4d438e1d7ea649057c900b1abc0e2110d5b97e2e1e8f
+size 763570
diff --git a/TASK02_A210041B900443_20260723_062005/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062005/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6f39239af3076a303c90e69338b8cb322997ca91
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe1d0ef48e575b54086bd8a2f20b712fab24af30b4543539434e7b45de4ece5
+size 300191
diff --git a/TASK02_A210041B900443_20260723_062005/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062005/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13da9d2dc0268e3a675e083f66f16371df36b70c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 602, "chunk_index": 0, "length": 603}
diff --git a/TASK02_A210041B900443_20260723_062005/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062005/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2fbf2051c03d2cd468da2a377df41a58a6d1c43
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 602, "num_frames": 603, "num_steps": 602, "num_samples": 603, "duration_s": 20.09086847305298, "fps": 30.013635339297455, "start_timestamp": 0.0, "end_timestamp": 20.09086847305298, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062005/meta/info.json b/TASK02_A210041B900443_20260723_062005/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..243366a9f4a9b6e10fa33d0bf207b003fd274c0c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 603,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062005/meta/task_info.json b/TASK02_A210041B900443_20260723_062005/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ade25624ff2e59204ccd31b625ff9e45312d3e2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1914",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:37.246944",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062005/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062005/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef511346c5ea4e8bc58b9dd89b790c2f932202b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:427df82f60e3c8ad8aa0e63fce41c62efcf8f579b761e2532ad86489306dc40c
+size 11691571
diff --git a/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bc857076f71ba1544a27712b60dc6df2f75b44d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300491b72dca1d2e46a9e4a92772a7dd2b2782759be6bcc4f5a6ede1e14b2b48
+size 2785315
diff --git a/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ade1d94764267bd3aa3ecf72f856b6386b661580
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ab2482fddb5d6fde46a5daa6acb78d22a8701bbac3955703f7a40572daa9c0
+size 17732461
diff --git a/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af5ef92796f6049114c7ca527850f0d2dcd1bfa0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20661ce0d9e8eca8f5512d551be9db3cc77ada24396b050e94fbfa75bb2cdc8
+size 16422713
diff --git a/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd46a229733d37bb30941da0e071cae45f8e522e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062005/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355bcd8851e461a57fe0c52dd62b68fb8620afe345535d5420c5c5465d064a98
+size 804546
diff --git a/TASK02_A210041B900443_20260723_062045/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062045/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fc747314790e38fd76fb8b2dd6fa462c6d1f44d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb83c28ec598fb8da2851362d22fc886b7adabdbad88cec0dbf88fa6ffd2a9a
+size 269608
diff --git a/TASK02_A210041B900443_20260723_062045/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062045/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..292e9d1bb40f102f03db420ed630a1b4eb09e458
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 505, "chunk_index": 0, "length": 506}
diff --git a/TASK02_A210041B900443_20260723_062045/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062045/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58270db42665ebe968fa59edd48ec7afdf05c7aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 505, "num_frames": 506, "num_steps": 505, "num_samples": 506, "duration_s": 16.847651481628418, "fps": 30.033859648139654, "start_timestamp": 0.0, "end_timestamp": 16.847651481628418, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062045/meta/info.json b/TASK02_A210041B900443_20260723_062045/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..18598d6d60ac7e9df4a1b9ec3190773f3594f26c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 506,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062045/meta/task_info.json b/TASK02_A210041B900443_20260723_062045/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e798ebffc249cba2fee659f66daddaa4edeb48eb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1915",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:36.933066",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062045/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062045/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..813047354d8b265e5b7fcccfd4bf5304efff9ec1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25b8d7761c492bfd8db1319cfc2ebf63b9ebf296507303a8f72cb6213fa9714
+size 8259706
diff --git a/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d28fd6e7f496d2f4e791e8b65f25a0ea7ebdf3f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21535449b48d4a1e44e34442e87f093cb44c7cc9f7fee902cae77e96b2a9a49
+size 2995588
diff --git a/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58ebd1587f95d09df902dd37bc03f1c0cf6f20cb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79cf4c5580dc69fc4e8a2b5fc37bd3679b36a4f02e813ed6733d02c0c78bc224
+size 13870061
diff --git a/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d73ec0f9caa2790012e0cb192193ec063fa05914
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65ab6b19d57737036ae2ae5ae21935f6dd130b1b50246fab220de788af80565
+size 13745122
diff --git a/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4552c6db588742c9e902c6f84008c61f9fff338a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dee3b2ab03b55e15a506363d2a526d3258f9db68b8e70e6f6f131f5c47ddde4
+size 797984
diff --git a/TASK02_A210041B900443_20260723_062112/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062112/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..732cb037eed464a458898f9b6e5e49ae3c70b65b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fe1b3d87e5c5e8ee35d34b06bd7ae982630d752b7d5df9c2cb96cf38fc9aaa
+size 299660
diff --git a/TASK02_A210041B900443_20260723_062112/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062112/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab98fdefcc6a223b99e3998dfcce569971192075
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 566, "chunk_index": 0, "length": 567}
diff --git a/TASK02_A210041B900443_20260723_062112/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062112/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d93f9e86ce3e8e6046edd4430044d95cc459ffc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 566, "num_frames": 567, "num_steps": 566, "num_samples": 567, "duration_s": 18.896979570388794, "fps": 30.004795099026204, "start_timestamp": 0.0, "end_timestamp": 18.896979570388794, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062112/meta/info.json b/TASK02_A210041B900443_20260723_062112/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bef12a23005659dc9d7096f723f5ddc9bec16ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 567,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062112/meta/task_info.json b/TASK02_A210041B900443_20260723_062112/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa27bb6b5f3dc81863ba46821f8d418c1ae89bf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1916",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:36.771470",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062112/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062112/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a1924ab08c1b6ea8454e555fc807343a3f8487e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5290af4036e6c828359eaf59884a189b40c6eb68a686b0f4bb2788e24b67857f
+size 10035606
diff --git a/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9710fd00bcb4625f923acb6b163278092e5f0694
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3353ac9c0115c90d83e7558de8608a16bc427fe9361af8fc8aa3c90c9f695a76
+size 3297615
diff --git a/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34450114c976bc2f05d240bc41bc9474cfbc97ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb80438467fba65f4e9326d10bfd75d5d7ab4119e3651c8566a3729a82cadc7
+size 17003966
diff --git a/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5379b4b9a7f0fb168e97ebd40d5b048c3664151f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5962d0d14028c81fbb56b4f2e4b6b8a33ba05ca0f07d0bf5a60badc6b64d3c97
+size 13949648
diff --git a/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e40501858c486cc6977532755a777de362db1cc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062112/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe411edc47c5d45886bd5c06a1d7b1828904ec6b0d689e8ad41249c3e2cc26b0
+size 719299
diff --git a/TASK02_A210041B900443_20260723_062322/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062322/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..03d1679a23a46eb4e4ae0ed4d4b50e4f2d527387
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b74ce824ccaca5162a33e944083d3cab8b0e197f8d71740381c5ad778349bf
+size 242714
diff --git a/TASK02_A210041B900443_20260723_062322/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062322/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..522944918e9d68cb1ca74cf675db52c9e22cc9c3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 467, "chunk_index": 0, "length": 468}
diff --git a/TASK02_A210041B900443_20260723_062322/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062322/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f21fabc92216c5edfa635c16cda9905618b6c10f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 467, "num_frames": 468, "num_steps": 467, "num_samples": 468, "duration_s": 15.594675302505493, "fps": 30.0102432991862, "start_timestamp": 0.0, "end_timestamp": 15.594675302505493, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062322/meta/info.json b/TASK02_A210041B900443_20260723_062322/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d63860e5d924cb37915a6d78856f3b5f06e686
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 468,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062322/meta/task_info.json b/TASK02_A210041B900443_20260723_062322/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8f6b8dcae9564fb49f0239da794640172f26a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1917",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:36.592709",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062322/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062322/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b151ce1ba0f0a27ca45ed22f84f3bb543001977
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6974d95e36cc0986d2190457ae0d8ab18692cda13b7c761039ae633357d883cb
+size 7528624
diff --git a/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3e4009126d2782208a55e7c3f25dac8fabfeb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfe68233a9c84e19da785b632f4d7cfffec73ad00e193489524da44da0ef596
+size 2937183
diff --git a/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1623e5f7df037a541a563fa2394d720b23cccc9b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e6abc99a5400eff0c726f4589407ee6d5afeb40ab3a0b54a08907b72e8be72
+size 12445427
diff --git a/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c8e91bd6b0f616b6448f508154830f932dbe0af
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0011599e4a26759d310de2585f871d525865eb74becc4f85e27292665ac27fc
+size 12930240
diff --git a/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6f385965a06c6c898eaeebb5e7fb474a4921d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062322/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35618649bf12a191a200743c53c2774ef37c540cedeacaec21dcca1b7873144
+size 713006
diff --git a/TASK02_A210041B900443_20260723_062345/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062345/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..82bf11d333f3459ff7c37786183d41f9f353a166
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5da0aabe70a41f7c9f28c576dcf15297f11ee3395784f8220ad32436a3fd47
+size 288647
diff --git a/TASK02_A210041B900443_20260723_062345/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062345/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f3de113184bb3ba5e27521e5905a8a7de08af05
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 546, "chunk_index": 0, "length": 547}
diff --git a/TASK02_A210041B900443_20260723_062345/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062345/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc06b8b5dba4f1aedb51e21e8f027896ec9ff3df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 546, "num_frames": 547, "num_steps": 546, "num_samples": 547, "duration_s": 18.231412172317505, "fps": 30.00316129271447, "start_timestamp": 0.0, "end_timestamp": 18.231412172317505, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062345/meta/info.json b/TASK02_A210041B900443_20260723_062345/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7166e496e2822cde3a0431b097408734ebefea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 547,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062345/meta/task_info.json b/TASK02_A210041B900443_20260723_062345/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fba485e9f70f405d9cd6cf40e33d7837d136f29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1918",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:36.399809",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062345/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062345/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9db7787f0594eb9b4a4ef28f5eeee350006fb7dd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3addeb68d16b0f4536cef9840518a5db5a7e9d8afda717335edefa0d44dfa019
+size 9122899
diff --git a/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26f9f60ddf8ffbc8b4e491cc64125d11102911b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2c5be6e4a847e27c0b9f1f6b51998036664c52e4fe05fa58fa9f94cd0e7bc1
+size 2867316
diff --git a/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67ee365d431a7c6753ea944dc45e31c6d9ddbd1a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b8e5484e3168ba5035fba620be98927d6f3c7c5813ad9fb9177946139bc379
+size 13666878
diff --git a/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1655d1a2b0ab9c8075a8c528af54bd135c9eaef5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add466841123a161e00f10baad7cf46ef01a14ef9813ecf4ea08798b57ae684e
+size 14749061
diff --git a/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae36d21b923b8a44e6f10f4bbc92a89957db2b44
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062345/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf43372098da3c9c8078386da04bc040d6270f142a19ee46dd79e2c8f6b82853
+size 839576
diff --git a/TASK02_A210041B900443_20260723_062406/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062406/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3da6d48a5c8fe81cd82e7791bc76eaa0dde8e82f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f8475d723a20b854f046e2e007fe72826f654f4a397c06e43c62936a9362a86
+size 219023
diff --git a/TASK02_A210041B900443_20260723_062406/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062406/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcaa3c429f0e17f6a3440871f5ac39f58b8a52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 457, "chunk_index": 0, "length": 458}
diff --git a/TASK02_A210041B900443_20260723_062406/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062406/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a03fea91b7e072f4a3ad12fd8f10700f3848ec3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 457, "num_frames": 458, "num_steps": 457, "num_samples": 458, "duration_s": 15.265242338180542, "fps": 30.002799159924038, "start_timestamp": 0.0, "end_timestamp": 15.265242338180542, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062406/meta/info.json b/TASK02_A210041B900443_20260723_062406/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d05c2dd399b98d7a111f643ec9edabfd2040ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 458,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062406/meta/task_info.json b/TASK02_A210041B900443_20260723_062406/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a1d4485d83ecd856e28c177e7a6e23e3f6be8a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1919",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:36.111764",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062406/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062406/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6cc17af97450b5496070ea652bd193140b35070
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651657269ebd09ececd3ce37cd0db42de2958a3a11e44628a0a31c676ef08f0e
+size 8478193
diff --git a/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13fef9ff386ede9994a24ba37fd06afb12c3cc78
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b453edc6fd28672266b67cdc56f769791ac534e68a5247fc64e4f5d31912061
+size 2299714
diff --git a/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b3338d0436d4748f6913119f5e15233292a7eb6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c19a9e5a85868d9640168449613da07e36c40475a039c4428e07562ef930c81
+size 13144465
diff --git a/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dc28057e00948fd9e3fdd1670bf0204e4b43fe7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5329d68cfe3c852426503cb492f64a38ed6004cf31d43cdbe1250dd80096a560
+size 12078396
diff --git a/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..660e128c443930e9dffc27ef659968a324bbef39
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062406/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319626462f43aa87ba55c6a9fb9cabe7eb3a3ed78a3bbc15841100699debeef2
+size 667502
diff --git a/TASK02_A210041B900443_20260723_062428/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062428/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3359013f16563047930e3adcf4307bfd34550e4a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205449a282f9c5145410f3d5972fc165d3a0c4b863c41a3c86b9f636aea59590
+size 248694
diff --git a/TASK02_A210041B900443_20260723_062428/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062428/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9b9b763bc3eed138fb96c60593e3466a6e18e99
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 458, "chunk_index": 0, "length": 459}
diff --git a/TASK02_A210041B900443_20260723_062428/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062428/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ad39dfc341e730b67f2f367243f0455d1a853dd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 458, "num_frames": 459, "num_steps": 458, "num_samples": 459, "duration_s": 15.290895462036133, "fps": 30.017862664720596, "start_timestamp": 0.0, "end_timestamp": 15.290895462036133, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062428/meta/info.json b/TASK02_A210041B900443_20260723_062428/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9beb443b113155e876dff4f8d6ebd22dd9cba8b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 459,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062428/meta/task_info.json b/TASK02_A210041B900443_20260723_062428/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d7ab4d79db34eef81c2e68328c3c7f3d89865c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1920",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:35.685449",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062428/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062428/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6da7362e6f8bdda788d1b2198f4a8569a506393c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1001c38096f6b39c637bfe599b8ca6b775427e1e14075f4d4d44db3ae8b687
+size 8035232
diff --git a/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..380a873d644b6103f761101eea6b8f542ff1351d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efffa70b7df17576eac744ac7daa5663a8fddb2988629ce6634e9e9c81b89a7b
+size 2326002
diff --git a/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87c8d716cd590998563956b6c3512bedb055a7f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe731787531a97267f27d2d8334d55597b4312dd184a3049c70ce561518246b
+size 14646007
diff --git a/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98ba1e465ff99cc35b703995b954cc361fa49a79
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6acf41c9151e72a3594557c211bd282046b05b2f420c3f0b15b443b6a7ca41e
+size 12540552
diff --git a/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f99862106909b0c40e849178e485726be1a73398
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062428/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ddeb771f568723c03593371126fe6cf5c223e43d30c4f2b34edb7b1fa1eab2
+size 587651
diff --git a/TASK02_A210041B900443_20260723_062449/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062449/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cf4294cbd7f1d0a34319afabafaa636b3a30eb4e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47cf1b4025098b1f887171b29edd731eaccd9c6d5c5e125249aa2dc9a329e10
+size 238579
diff --git a/TASK02_A210041B900443_20260723_062449/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062449/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..194440adfc47aecddc078bc1fd16379a029968af
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 456, "chunk_index": 0, "length": 457}
diff --git a/TASK02_A210041B900443_20260723_062449/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062449/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..702e1f75ed142ce927c3bdc382026293e3442094
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 456, "num_frames": 457, "num_steps": 456, "num_samples": 457, "duration_s": 15.230266809463501, "fps": 30.00604032202757, "start_timestamp": 0.0, "end_timestamp": 15.230266809463501, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062449/meta/info.json b/TASK02_A210041B900443_20260723_062449/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b6996e186d02f348e34eb67c20f7f1353d6778
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 457,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062449/meta/task_info.json b/TASK02_A210041B900443_20260723_062449/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a52c11819187d383872efed7388d7dde68f0489
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1921",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:35.451963",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062449/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062449/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f5cfd928afbcaf953c7198892ff123f007424cf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef30735d4ba2df562a479a33d7cb8fbe0757b5b26ce1fc13b7d29567d28df205
+size 8626801
diff --git a/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c374dacc4c519baf8430d1faf25ddf7106147be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6a0baadda2909cf23a0c06d2ba0d10d3fbe080c358ee7c0d4c0ec895aa9dd4
+size 2132231
diff --git a/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57ee2dbea0ecb3de8235c4042366c22201f91429
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96065f87efe0548ec506c3c3e8e80c6903830b974383b3267402212a9d929e24
+size 15067501
diff --git a/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..109e1a5b4436e257698f48d6ce11d5181ef7e468
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a374f1b4e82523f9a6d508edf277028c993caead2789220bd76a16b3a2d3dad
+size 13032262
diff --git a/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f0225c54502742d5a5c19dbce141041d47014a5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062449/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ff3f4af8181f9d2c7b9edd6c76fd78bc19ddf0de53970e958d9cae6aa3cd99
+size 566423
diff --git a/TASK02_A210041B900443_20260723_062510/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062510/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5c630434c5b9fe7508dddfac502c1aa0c6bde285
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668e5365a00e96098d4dde4d1f4fb0fd7ab9938c754ccfe6a4b6ba9caf71ce7b
+size 271917
diff --git a/TASK02_A210041B900443_20260723_062510/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062510/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..974d6035b299062c261a325b691603098d943d95
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 539, "chunk_index": 0, "length": 540}
diff --git a/TASK02_A210041B900443_20260723_062510/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062510/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..959728b0fa0287371cf6bd59e3fda973042d9c74
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 539, "num_frames": 540, "num_steps": 539, "num_samples": 540, "duration_s": 17.99993658065796, "fps": 30.00010569927581, "start_timestamp": 0.0, "end_timestamp": 17.99993658065796, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062510/meta/info.json b/TASK02_A210041B900443_20260723_062510/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4b5c83ad73629f8a4d65b19eeb5e0ea93c9334
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 540,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062510/meta/task_info.json b/TASK02_A210041B900443_20260723_062510/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2cd387ef882c5adb7a90efea23c823fc5e7dbe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1922",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:35.208071",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062510/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062510/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bac86c8e21877a10c93890a3a5eae6b75f7df2ad
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801effcf04044f1569049192de037fcfb2218c5c7e9e5a41a0791fd7369be7e6
+size 10443626
diff --git a/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7ca9f5ae4eef08cce320da28f3bd31837167d84
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f004c10679ff8cc7656d8d9204f142b0fee48fbf2774d73d4be3f4ffe8224bc3
+size 2918313
diff --git a/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0edf13827d9970588c86db6c6896057e5a56a74
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea565f1bd617a04e9ab599703ff86defe97db0d9e29664bfd4f6d0f519557937
+size 16210295
diff --git a/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89b09c1831634b42e300b12dc9c2e303b2e0d438
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d21cf6d51f7a49619dd90ced3deb8139d34a9802c4a3e4dbb8bc1ca876d13ec
+size 15319848
diff --git a/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56a78a33e90cb09e38a78c59a872e7f445d0aab6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062510/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec463cb409552cf2230e5dbf182216e93c784b54e1c53bde3cdb57d40b8c8f61
+size 722384
diff --git a/TASK02_A210041B900443_20260723_062534/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062534/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..55a740e39b2289ff0d9b4105beec851a6ee33cf9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d201063b5e4cac3c828bcdf943a5c3e85adf62ee9bb427e2d7137897fdf35d82
+size 270090
diff --git a/TASK02_A210041B900443_20260723_062534/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062534/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6213ef6c356f9fc572c19f8b58d5fe1422ffe5e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 529, "chunk_index": 0, "length": 530}
diff --git a/TASK02_A210041B900443_20260723_062534/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062534/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0875a947e270045a1ebe3a2e8c2b066a48e59c45
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 529, "num_frames": 530, "num_steps": 529, "num_samples": 530, "duration_s": 17.661724090576172, "fps": 30.00839540250739, "start_timestamp": 0.0, "end_timestamp": 17.661724090576172, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062534/meta/info.json b/TASK02_A210041B900443_20260723_062534/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..758b3634c12e7029ce10227e37b531a2a1ec9375
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 530,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062534/meta/task_info.json b/TASK02_A210041B900443_20260723_062534/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd93ca8eed0abbc366cebebd06a65ec1a369c1df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1923",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:34.860283",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062534/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062534/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac3f767a81fa0c03a57b7eed1850681b2d9b635f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c182127875315e3dcd1e0c0ead9a2b8ab4de6ca7d530db57bdd63c9080a24315
+size 8432681
diff --git a/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bfb68037b09b7f172e2a02cca10c9ce93f4c361
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1eca1c992057142aaa63f3d06a6ce212366f6ef210f20c72314fe3652d390a
+size 2628875
diff --git a/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd6a5bf564f8040cc2b2f50dd793b82bdcb46a61
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6900fade259a671db3f75da8e3b4d58507f94368c415a8ef0b0539f3812ea6
+size 14032941
diff --git a/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5c56dd66821b2f85f7213eb77f1a233914e2762
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0cd6812bbd2dbe76f7726a8c3d5d9720b062d93b413f9734e45280c155d4de
+size 13513385
diff --git a/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eda4f9b91a8f50b609b9872b7ad95eab8b3105f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062534/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70f603d193dc8bd0b9fba0c27d9d2121807e7d59509b6b532801cc7322215ca
+size 716449
diff --git a/TASK02_A210041B900443_20260723_062618/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062618/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1f7865a9729c94197c708b29491b3b772f5d6679
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb22d633bea677249b71b38133159721f7d65608aaa1cb9a1732e3bfef0cec65
+size 249885
diff --git a/TASK02_A210041B900443_20260723_062618/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062618/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8093d2bb4134f60a73d34911495c81fecc7ec1a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 464, "chunk_index": 0, "length": 465}
diff --git a/TASK02_A210041B900443_20260723_062618/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062618/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1af28b5a6ac3d9f47d153f746f5b29211c2d43a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 464, "num_frames": 465, "num_steps": 464, "num_samples": 465, "duration_s": 15.476926326751709, "fps": 30.044725301576985, "start_timestamp": 0.0, "end_timestamp": 15.476926326751709, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062618/meta/info.json b/TASK02_A210041B900443_20260723_062618/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f3e0490e540af29d16461274708d32560ff627
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 465,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062618/meta/task_info.json b/TASK02_A210041B900443_20260723_062618/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b26f5ac1c976d256d1ec28fde2a18958bd3bf200
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1924",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:34.578217",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062618/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062618/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..673c1c8579ad49ca66091933a1f1551837b7e1ee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb0439f991a266712ad73b206060afd571393a4e941783c3a9bae222944349c
+size 9135103
diff --git a/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..888cb78e9b5fd098363db08bcdb1181064b59ca8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf81edc0318dd85e2b2f326d820765931fbf568450498e0dc5038798c277969
+size 2398010
diff --git a/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..711b2ff73c7071469aa29847c9b6d020644e1fa0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a8edd612215f714f73d575f1fd87542cc42870ad29e70e2ecbba81b26858aa
+size 15378301
diff --git a/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85cc89100cdd4edc742529c24dbf2eeb50d43766
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69d1656bd19ff107ef295d57af18d80fd8da9d7a8cabc338877dc5a381413a2
+size 13665464
diff --git a/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebe9fd5f9dbe76a3d36379d8fb5b051e65a633c7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062618/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfe4e5b1d3c303ffc8f8a411b148290636aebff3d479f267b5ec2c082eda803
+size 661325
diff --git a/TASK02_A210041B900443_20260723_062638/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062638/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3fd871c630c043ee828a11b98c96f3cc5e6f8ee9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f9fedb01f35b7ae0edb934b8a86f95160ffe755e3477c7a35f7d24a8598824e
+size 319190
diff --git a/TASK02_A210041B900443_20260723_062638/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062638/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7226a920a79f187b8857b2361d6dd6c86ade8874
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 623, "chunk_index": 0, "length": 624}
diff --git a/TASK02_A210041B900443_20260723_062638/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062638/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af3aaa2a38dc93256d86827ce924853860bb19f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 623, "num_frames": 624, "num_steps": 623, "num_samples": 624, "duration_s": 20.79806137084961, "fps": 30.002796360366222, "start_timestamp": 0.0, "end_timestamp": 20.79806137084961, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062638/meta/info.json b/TASK02_A210041B900443_20260723_062638/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42f9598ed7ca6ff138b2d2dea15175beb36f2d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 624,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062638/meta/task_info.json b/TASK02_A210041B900443_20260723_062638/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85bc03db78eaedf47b37084987bfc165809fb6c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1925",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:34.315257",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062638/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062638/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92163f6f3eaccd9cabe8b933cf07c2ca1da3d437
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a7f7b331e6b69a29135d58cefadc792773d3e47ec020786786392ccacbca038
+size 11289267
diff --git a/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..613118e6c30d2bc031f3f19f0f5e2cc856899d78
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ea66ab2fda42286a4352d312821342cc3f7c8215934792c35c209c8686a6004
+size 2605851
diff --git a/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3bd9b31b9303ada031ee27b3f8c449e94159ff4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c43322c2cc3bf9586cd8bf4a57e2a3eb575ed5b047db995ee660d41f951cd97
+size 18841400
diff --git a/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f8c5f82ed14f715a70e6376f586410a8c0d14d2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb07faae97b933f8bdb31208ef3e2232df4641f1c2a9a2117fcb3d37e3078d5
+size 18748447
diff --git a/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b8d371995d5c3dbb9c0f922e26638ce86abe2fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062638/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4afc4f35ac9a8b29375280cf866a2ac3b769d2752ebf99c2cc898c9361c12ec7
+size 742231
diff --git a/TASK02_A210041B900443_20260723_062702/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062702/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e9ea0a1f1434dd847848def44c081b669aecb2a3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2373ae68a042f199d46e06f2aedf6d4720a8387ba34c4f08b89cfebc1d23b9a
+size 353670
diff --git a/TASK02_A210041B900443_20260723_062702/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062702/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad7e42cfcc41832063c9e4ed9c15d388c721be40
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 659, "chunk_index": 0, "length": 660}
diff --git a/TASK02_A210041B900443_20260723_062702/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062702/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..573e18970104fae85087ad88cd1b0ca9a5ace18d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 659, "num_frames": 660, "num_steps": 659, "num_samples": 660, "duration_s": 21.99890637397766, "fps": 30.001491382349304, "start_timestamp": 0.0, "end_timestamp": 21.99890637397766, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062702/meta/info.json b/TASK02_A210041B900443_20260723_062702/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..99c1cc64c4e4a30bbd78c404361a897d86325756
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 660,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062702/meta/task_info.json b/TASK02_A210041B900443_20260723_062702/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1815b80051c29d8a8ab0ebc8e8fbfcd105c0e4b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1926",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:33.953319",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062702/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062702/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd828ff6a372e4ec6bfa817aa960054bc899bd1a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfaa3fcab8243dd8828cabac9bf094e606adc0ca463a60b333598dfc6dd884bf
+size 11841568
diff --git a/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd674d306a3eced42ceb7c35d26d6db698201f07
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97bdfbfaaa0e6edeca23cbc59020157923ad5413831108ede6084a849cb2f06
+size 3089719
diff --git a/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d66f846446c6e7b3d694c59de7470d24e8253317
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22e46564467608b244ca72b6070f7ddf0bf8b00bc4478cd1a60f1c32414b6c3
+size 18952602
diff --git a/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56733f023139201a271156cc64a0bcb27bca9230
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8dc8db0b8a4977961d8b6ad927ff1a0e0d1b9c2d6192e768941ba4ddf62fa4
+size 19961565
diff --git a/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5410b221c70641f8c7aecd6ec6af8ccf4619a24
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062702/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059170542a5c14373a59dd672d8fe48da4c37964e30ca11a752f405adca1c65f
+size 772426
diff --git a/TASK02_A210041B900443_20260723_062731/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062731/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e75de99c1749665805828a6e5503cfc16b94b903
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dffb636ee8cb4bf0aea39ecc52d9c88df42bc8037d58c9afb3c9c364f37709f5
+size 301559
diff --git a/TASK02_A210041B900443_20260723_062731/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062731/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab98fdefcc6a223b99e3998dfcce569971192075
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 566, "chunk_index": 0, "length": 567}
diff --git a/TASK02_A210041B900443_20260723_062731/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062731/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9280f38549038fabec13d6bca46deb06e7e54131
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 566, "num_frames": 567, "num_steps": 566, "num_samples": 567, "duration_s": 18.873008489608765, "fps": 30.042904940787945, "start_timestamp": 0.0, "end_timestamp": 18.873008489608765, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062731/meta/info.json b/TASK02_A210041B900443_20260723_062731/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bef12a23005659dc9d7096f723f5ddc9bec16ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 567,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062731/meta/task_info.json b/TASK02_A210041B900443_20260723_062731/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..682f2a6de9e6a3002d3baada2af9e554c1f20e41
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1927",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:33.718312",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062731/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062731/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bebd2543eb6965e94e01ac47f49d74e59590f9c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88caedc42ad9e4dcd1d2acf7bc2bd6fa0a25c1d8ca9e31631daf1c0cf81fe6bc
+size 10787657
diff --git a/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82f0e1af88b71a2d08a6a9123552f4cd6bb35a66
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d10132f175be79f7f11ea1fa033ce8dad76cf6edd9e88e20aa299cc88ef31d8
+size 2704627
diff --git a/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99746b683d2101aae31f77d17d28e132680ab0e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b9049dd29450564b127f4b7bc949cc6aef5c4c6623fdf3c960fb932957ad1d
+size 17691930
diff --git a/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4212ac7d239dd8525855ad2ac9903faf8c827e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744a10b83c9069f0371e48088c89c3abdd0f9c8700841d2294d2daa656b7db41
+size 16812836
diff --git a/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54e5b0893e73e1a19b9a08d6625a3fb9783c7df0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e37fe40c4834e9139a5771c5857b9dbbf435d18a0d734d48a303bd936c88f2
+size 769306
diff --git a/TASK02_A210041B900443_20260723_062755/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062755/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4872e7a1ed3c67e6cfa14a1a5c12776cf6405266
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9779777884df530fcb958521a68f5d68cb9811e4014784b80443c8bfed8650
+size 336161
diff --git a/TASK02_A210041B900443_20260723_062755/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062755/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3119a8dff2e26d7e6f49872171ab99c34c2132d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 628, "chunk_index": 0, "length": 629}
diff --git a/TASK02_A210041B900443_20260723_062755/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062755/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa73e22bcb93b4aab0f44355c6de78258f605be2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 628, "num_frames": 629, "num_steps": 628, "num_samples": 629, "duration_s": 20.96090865135193, "fps": 30.00824107686911, "start_timestamp": 0.0, "end_timestamp": 20.96090865135193, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062755/meta/info.json b/TASK02_A210041B900443_20260723_062755/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdf1309311dd544d02634a962a8518aef6eafcf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 629,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062755/meta/task_info.json b/TASK02_A210041B900443_20260723_062755/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b63c33796ee6d23c6cc2652179f9d614615ab20
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1928",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:33.516236",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062755/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062755/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32018f4093d0841e67c5bbe289e0e4b95d3ed202
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262772ef446f0a64bd111c4d82de62eb2a0397c87cc71828106dc6546f26381f
+size 11715421
diff --git a/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cf983413a78baae9f7f106b423fe75f87018b20
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20238679cfd96708cf162d92f134fd8482b5493c6abf144436d75d9e5db1f70e
+size 2911998
diff --git a/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aefa0eda88578086b22c55f59325a4c613504c56
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c2f2637389ec3c6cbcad9706abcef8a4c243fa5e086ecf733204f77c5c4a5e
+size 17679660
diff --git a/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1c1df369081986d466c59a29296ece12ddc8346
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5768d451d9d8fdd685e3e1dad22438e955e04658d435757ad28f27089dba432
+size 16979337
diff --git a/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa2ceb2102087e887b1be0ac3d01079e0dc93a4f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062755/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f6f3509d2d1fc09c8a2bd43f0541fb62507131adb2d148bcb7bfb06cbd7d42
+size 823265
diff --git a/TASK02_A210041B900443_20260723_062821/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062821/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9a0169d9100db1c8ef0e6dcbd97269e5b3e7da87
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6696f4eaa57f1fb1f7fa32554f40589ce50de2dd4477c12d828c05443ffc632c
+size 263920
diff --git a/TASK02_A210041B900443_20260723_062821/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062821/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0071f4190bd87e79453db82bdc0dbcce61eacb07
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 508, "chunk_index": 0, "length": 509}
diff --git a/TASK02_A210041B900443_20260723_062821/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062821/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd9470d586d46d73a3406934603e5c84d161eff5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 508, "num_frames": 509, "num_steps": 508, "num_samples": 509, "duration_s": 16.950685501098633, "fps": 30.02828410491186, "start_timestamp": 0.0, "end_timestamp": 16.950685501098633, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062821/meta/info.json b/TASK02_A210041B900443_20260723_062821/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf17a53cda0565e9f925c2b3269eb037ec4e4fa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 509,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062821/meta/task_info.json b/TASK02_A210041B900443_20260723_062821/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c75e84f19cef944ae06d7ddbac7957b062f0761
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1929",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:33.262261",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062821/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062821/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..469976a6c2b035bd089fb6310d5ddae6ac1871e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:216d1b417c8a68cea98f4ffa45de2a37ada20cc8c84250db6cae37b00faec69d
+size 9410924
diff --git a/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4358f4647f933d602e949c29a40bf62945660f0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9427f1d0c771bcdb5dea2c37312b63aa0f7a90f09fda64155822e9377643fd3
+size 1995538
diff --git a/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d63a00a97d92ffb7acaa237b9b71c7dc8f11e56
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59cc1b1d3daa9d363de77fa17e17137c167a0700d0406ab53ba2e2b7c84249d4
+size 15024457
diff --git a/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..324ecfb854669e6e9b5ad6405f4b361760b4711f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5d52913fb61cb06f5b205fae6d3bef7989511df3f49063bc9f47edd7e7e937
+size 15347689
diff --git a/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdd419891cf026093c29aa5bdb07a294080a2009
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062821/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a64042825fae88133143bacf0ebc7ad80007e9ac5e6a7e6b359334759f4417af
+size 599541
diff --git a/TASK02_A210041B900443_20260723_062842/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062842/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b96e77ae73c9a611c67c86fc1896f722bfe9c0ec
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8bfa0a8704cc17c376eb8fe371b34772a39efdbe7aad39368b036f31ad6f2f
+size 233222
diff --git a/TASK02_A210041B900443_20260723_062842/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062842/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0afcfd43f80151c3d6fc8be47ad999a3b131d913
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 425, "chunk_index": 0, "length": 426}
diff --git a/TASK02_A210041B900443_20260723_062842/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062842/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b64fa068d4e42c62ccccd2b393397e2f65a68eb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 425, "num_frames": 426, "num_steps": 425, "num_samples": 426, "duration_s": 14.168261289596558, "fps": 30.067203822165705, "start_timestamp": 0.0, "end_timestamp": 14.168261289596558, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062842/meta/info.json b/TASK02_A210041B900443_20260723_062842/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..08930c053ee7005cb16b5b155c95d942d1d93d4f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 426,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062842/meta/task_info.json b/TASK02_A210041B900443_20260723_062842/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5daed2ddca27fe642cf9c8bf362166403ea25b57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1930",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:32.992448",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062842/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062842/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bbc3c335ed55c2822d22d57b8e000ecb37df013
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff3fc81a295dfe9dc368f1395fb6a37f866f693e37279fa78cc389051c0d2ac
+size 7638815
diff --git a/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87c7126c2170f7cd18c1f62b8d79f99d2c1cc054
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d40d426839c28c58ce667e67eb2b8f5b57289995749bca861c1a84b6e65a8f
+size 2351538
diff --git a/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac0c7fa3a4fe6090344810e63af65fbf30c56857
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118afb218c5e822427b402fb3be23644aafd336707dd7ba8cf29c6cbcda77af6
+size 13186480
diff --git a/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f382006ca123d05a1fe306c3f41dadf52f5dfaae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d0e78d1f60b006eeea2b0726efa1d9d3a9e96443b4a01096292c8c960fff9e9
+size 12935068
diff --git a/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98b1815bd20babb406bbad9417764cf12d381abf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d877d062a1f0811549646c0de707603fb44d3af17c5471200b280a3c07a44f
+size 635381
diff --git a/TASK02_A210041B900443_20260723_062900/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062900/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f87789bd069d4130d528453618886cd3daaf31ac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab31811d431c4c7c3d5a18fb541464e1013cacdb406eea90f611f3ec78b9d67f
+size 281028
diff --git a/TASK02_A210041B900443_20260723_062900/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062900/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3b38c68b9fcfc4d7147f71f55fb8a9758ca13ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 528, "chunk_index": 0, "length": 529}
diff --git a/TASK02_A210041B900443_20260723_062900/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062900/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..852e9a82c9ffe9b85a99e951fbd88816393b8260
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 528, "num_frames": 529, "num_steps": 528, "num_samples": 529, "duration_s": 17.631840467453003, "fps": 30.00254006247916, "start_timestamp": 0.0, "end_timestamp": 17.631840467453003, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062900/meta/info.json b/TASK02_A210041B900443_20260723_062900/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb0729354ed93a172ff9fd220b602fb5d58c34d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 529,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062900/meta/task_info.json b/TASK02_A210041B900443_20260723_062900/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56fe22a9a7ab6c4d6952d5f3990b0a6d166b1a06
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1931",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:32.624555",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062900/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062900/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e658c7f3a72a4710911ad1d9df81773369d76da5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8dbbe58988bb7323163d5cefd85a6bf64f685d9c7f4c88ff414110f35905de0
+size 8772611
diff --git a/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ad771edfb35992d786fbedb89a118836f2f6cc0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752e16e497c1dd1e47d94c92677279f94845fd6757c757a6d34c07c72a444f8d
+size 3295510
diff --git a/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00c5a0faa66f13e081375467e3b1fb2d13a7d9f3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9ce09f2f5d6c77c151dadbbd3ed392b6c830561208c89128ab0caa7e04bddb
+size 15357524
diff --git a/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beb5ba7ce65345f5ba9388ed8806aed3f51d0974
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e99d757af0077b2c0d8e37c7022250b17154c368e776e499f3c4e3493ec00c0
+size 14463061
diff --git a/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e60d698b0754931f45a3dac2192b98419cfe084
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062900/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f7ed6b33ad31c1a3015821735ef34bacca8b406a9e11cf713ab9e5aa52b890
+size 856847
diff --git a/TASK02_A210041B900443_20260723_062924/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_062924/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c87c9ddd12e4a265a51eeee2b8b13b47c7cf2330
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e827e72121d3e2255955f931b2d6cc1db8ea445c2cbad606d590f88067f45462
+size 265230
diff --git a/TASK02_A210041B900443_20260723_062924/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_062924/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b94a709ede143e987b0f5e9c7bbe264794260caf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 502, "chunk_index": 0, "length": 503}
diff --git a/TASK02_A210041B900443_20260723_062924/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_062924/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91bfd2989edaed9bace70a1182472d32b23d004e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 502, "num_frames": 503, "num_steps": 502, "num_samples": 503, "duration_s": 16.759474515914917, "fps": 30.012874181845476, "start_timestamp": 0.0, "end_timestamp": 16.759474515914917, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_062924/meta/info.json b/TASK02_A210041B900443_20260723_062924/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9741b9ea35526ea356865edcbf4a7a456ac90fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 503,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_062924/meta/task_info.json b/TASK02_A210041B900443_20260723_062924/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..048fa27e0680fdf3e536460347d36ae6d35bd0d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1932",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:32.320041",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_062924/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_062924/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae8579893a0d3f9b49368ea6c3e146760b01b4e0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15942e94da6de209461b949484568f4fe63a971716b5c5e1e92dfff18a0461b
+size 9910980
diff --git a/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c49a4ab4040cf331b02af19a90e0dd0c2614ae9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0101ae9db388aa861a6637a1d516e442854a2f38cade960320e86a0d1bf04f
+size 1602766
diff --git a/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daeff475c422ac4d92eea3de8470d8496e99dad1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1ddd109e607d13227dad939ab53b7d5492f4aa342624ee31f245230160748b
+size 14695291
diff --git a/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8af1c9565cd13e3f0706ae1a32a13b0becb4eb99
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6b0b44167f56a2ae319dd48b97afc5a76f30d21861d3f7029635f087889069
+size 14677034
diff --git a/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cce6fc27c71215846041008737458b023f7a653
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_062924/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37dd82222c50583eb96e368da1b09b349a3d5aabfebfd288a50752af1df749bd
+size 447256
diff --git a/TASK02_A210041B900443_20260723_063123/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063123/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..860ef47fea250ef57abc9f207428baedebf5f9df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353ee8ff231c59fe3e37a1c9d5dad01e8ce3047edc49fca57546cfee8e6070d5
+size 297060
diff --git a/TASK02_A210041B900443_20260723_063123/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063123/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22eafc0b29544cf80178fd152eff26ab475a6edc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 561, "chunk_index": 0, "length": 562}
diff --git a/TASK02_A210041B900443_20260723_063123/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063123/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c13abc7fbd16c04844ef5dbe5bbc94716c5677ed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 561, "num_frames": 562, "num_steps": 561, "num_samples": 562, "duration_s": 18.711672067642212, "fps": 30.034729016647177, "start_timestamp": 0.0, "end_timestamp": 18.711672067642212, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063123/meta/info.json b/TASK02_A210041B900443_20260723_063123/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aecbd311980d18259c63f4c859e378b4344ea52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 562,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063123/meta/task_info.json b/TASK02_A210041B900443_20260723_063123/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56684a4c156c85bfd9a18dd05d1e3d25407bf75
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1933",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:32.084618",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063123/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063123/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e657f6a3091ea728b7553f9bcacdde6828d730e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f618dd568e96af2f9f4570019638c42209c4379025e115f2d86c34b4e9e54264
+size 9159894
diff --git a/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..464da5359af14f502f49fd8d1d95c1222ad39373
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10889cc9f5c538502d24eb8cbda85d193a53d9a955f205634169038e7621b60d
+size 3576182
diff --git a/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b90d8ff6ddc9061e9f44ff9abad7c55a7bf739ee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7e1ce6c32297237913645b70918a69c19baf687e65d375b43d5636bf2b8101
+size 14936915
diff --git a/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..698bb08a7387191a89b24ddea426fe330684c500
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47efd71e6107e5dca5469ac6ac68af5bc2b57fa7bbfd7a470126f37a7777ff27
+size 14776112
diff --git a/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0d5bad285d06abca89c81d6bdfa45efd188491c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063123/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f0362922e470c88311facaecaf78fb42bd1acd549b7180ddccd51907ed84f6
+size 916438
diff --git a/TASK02_A210041B900443_20260723_063146/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063146/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c9d0bbb680bde1f473bd51384c27b3242371cc19
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03faf115f7c9376912f35d1eb9a93eb197e556d5ddd8c352c0b9a238c6dc707b
+size 260925
diff --git a/TASK02_A210041B900443_20260723_063146/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063146/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e73eb954533dc9e0b61cd730acdf2c9449d2eb50
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 511, "chunk_index": 0, "length": 512}
diff --git a/TASK02_A210041B900443_20260723_063146/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063146/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be41e228405ba8fae68c698ab07b424f81a2fe1a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 511, "num_frames": 512, "num_steps": 511, "num_samples": 512, "duration_s": 17.06328582763672, "fps": 30.005944058601784, "start_timestamp": 0.0, "end_timestamp": 17.06328582763672, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063146/meta/info.json b/TASK02_A210041B900443_20260723_063146/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e10d0bb79e23edc682c25f3e2e8a9c425125fa9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 512,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063146/meta/task_info.json b/TASK02_A210041B900443_20260723_063146/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3f9c825e982ae4a4f45a0c1b07808aeca9bcc6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1934",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:31.849283",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063146/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063146/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2917110dac437e9b4a0c195e780786c0f4f85f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bcbc6eb58604be7c48e6eccbc770fb878dedb39dc60c3e5b857bce5ddf6fb2c
+size 8067945
diff --git a/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60f019c6f9d783d556a8896a36480a7bd075ebd6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ddf9dfb23dfbc885fc362dedb652c4b7673cbc2699bdb3696471db927dd952e
+size 3255579
diff --git a/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c957ac6d25ae7e4b03427918d518af05237dd44a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cff779ba5fa442cbaaf98087aa0365fec1d8f5190135fdc9e40024d27d0a123
+size 13410313
diff --git a/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e7dc86ccd967adbc865783e3939aad0fc8eeb15
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a87a3859311235b1202824066ea19b8bbed93af08203c88c9fcd1e43e0a54a
+size 14721541
diff --git a/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b75af8d98ec04b7fba8ab0d12637290ed995ab27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063146/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28da290eef8d5a331be4cbfe45e0eb5d00c05283502796fb829c597c1cb44ea7
+size 822477
diff --git a/TASK02_A210041B900443_20260723_063208/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063208/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a67535376832a34a5197e89a19cfdc6a12585822
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf4dc4814d2bc4dc9f239e43a2497c2122d157cbeeedd953df95d140b162778
+size 246671
diff --git a/TASK02_A210041B900443_20260723_063208/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063208/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e57af8d8acf327513999347c5b964428cc3c56d1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 504, "chunk_index": 0, "length": 505}
diff --git a/TASK02_A210041B900443_20260723_063208/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063208/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..489f92bfc4809f0d1c7214b0920093e65d72e836
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 504, "num_frames": 505, "num_steps": 504, "num_samples": 505, "duration_s": 16.826640605926514, "fps": 30.011932377169444, "start_timestamp": 0.0, "end_timestamp": 16.826640605926514, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063208/meta/info.json b/TASK02_A210041B900443_20260723_063208/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..34231da58d3cb0fa7cc1feb29e8717021609e62a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 505,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063208/meta/task_info.json b/TASK02_A210041B900443_20260723_063208/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..98eebed5195a90f0d8d800d8c0c2801f79d3163d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1935",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:31.718175",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063208/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063208/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6b29b21b2f9a9af27f4612d280289de4cb83b77
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8fa41b89559772aca4b06f8270295722d55e9d534385454fb23b1b240481e0f
+size 8735613
diff --git a/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c4acf45f468c93473904a5e6c188e4c6547c324
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0a7b4fe2ce00675362116ad0e8cbc1f2729290b8fecbbed8a9875bee362a3b
+size 2491967
diff --git a/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36da3d51196f66fe0aac679f2d225cb248a4f73f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba9f01ee48b74dcc441d6ce22f8bd98e4e5578112dce69a6186f26350c5779df
+size 13639105
diff --git a/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a01b4b751b701fca90999b14604543889930d73
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eae29b83d7f6bf58fdbff87596dac391daf0e245f9f9dd9c82aa6fc89c902a2
+size 13397000
diff --git a/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebaec38077306ea660a8480d18c78eaa271ff94a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063208/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c816b21edc25e944098681aa572109574f5e298d7a8f80631b1cb4e8cf713225
+size 693025
diff --git a/TASK02_A210041B900443_20260723_063337/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063337/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..61156f0177f66370e0b4d3e8b3c8fa5ac0bbf0d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041deb20a03775d020b4ad16612dbe601d45de2449a9fb76a2ba8f3c6ea3f312
+size 252356
diff --git a/TASK02_A210041B900443_20260723_063337/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063337/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9055abe9bf5b9fed8727af49659079fc973a30d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 499, "chunk_index": 0, "length": 500}
diff --git a/TASK02_A210041B900443_20260723_063337/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063337/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82d69d1a9ada345895359692aa65fae367364ab0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 499, "num_frames": 500, "num_steps": 499, "num_samples": 500, "duration_s": 16.63928246498108, "fps": 30.049372684927768, "start_timestamp": 0.0, "end_timestamp": 16.63928246498108, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063337/meta/info.json b/TASK02_A210041B900443_20260723_063337/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f09973e6102cabcb81fb50b7ce7ca491cb4abc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 500,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063337/meta/task_info.json b/TASK02_A210041B900443_20260723_063337/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa5958184df5d6d2ca81b3a3e2a19ed8200e336
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1939",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:31.369030",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063337/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063337/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b3a32f6072d1ef81d62dda3fe7353e9f1c414b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccadde21f4d816d48880d7242e3b14c3a2b2a10afaf255de4680a7132a95ac1b
+size 8119385
diff --git a/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af5324386fd91922d69b24aa5fd282a4aaa69b16
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6c68d45029bc4482f5c600b891ed184956977dfc295c3adfe793dc34c90fd65
+size 3121189
diff --git a/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82226017f3fb2e4591bf2dcf2341fbb77ef4a773
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132144237a5e112ee098c7bc8ec60c856822c2bf6963e022b57f38586ba8ec14
+size 12681593
diff --git a/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2465dd7de7b90add77aeb90f620ffc898452a7c3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92eabaec408d112b08be2e5ceeccd30d1c3146d16b9a54146b6191f95e935ab
+size 13411198
diff --git a/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e95f8b822b4590e6bcd82b085536db2a435afa7c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063337/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c79daa4dcb710ad957a6d82c62b2b7cadf8e493d556e93d55bf33c6b8cdf35
+size 805735
diff --git a/TASK02_A210041B900443_20260723_063400/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063400/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c3aa7450c0d5600b4b99c6bb411754726ba1d711
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a30828c18e74ce801469621abaf0b8664f7730a1de9ecee58af0db1e477d40
+size 402167
diff --git a/TASK02_A210041B900443_20260723_063400/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063400/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd9ea6030f838ddd0e0934b011f44a8943e8cdcd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 774, "chunk_index": 0, "length": 775}
diff --git a/TASK02_A210041B900443_20260723_063400/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063400/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f5eacebdbeefd63e7e714274ede01b812f430ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 774, "num_frames": 775, "num_steps": 774, "num_samples": 775, "duration_s": 25.82256841659546, "fps": 30.012506405130818, "start_timestamp": 0.0, "end_timestamp": 25.82256841659546, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063400/meta/info.json b/TASK02_A210041B900443_20260723_063400/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ec4bda36824f4be26f67bc2a9e5dfadc4260b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 775,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063400/meta/task_info.json b/TASK02_A210041B900443_20260723_063400/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6865b38c0ecf408013c4b6387c0207f56b0d0137
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1940",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:31.026908",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063400/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063400/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92193c7ee898f865075ffa4dfee5333663babd28
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b47c4a44ccd681c942e76bff561ac46cf7436345a14f49245a418b766ce96fe
+size 14185307
diff --git a/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c42ee0001e2f1ef9698606975cf61494f4342dab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15faf8debf7968b6b3f3e8daf7ddc973ea977d51225eaf10e6b6f21f6af6f02
+size 4372883
diff --git a/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c6e7c33ef654bb9b5eac6bb1b565171aae2264f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8c0c46a9f128b72f594d70341ef89ecc8da8081b69dc31392c64835dbc39c7
+size 21512342
diff --git a/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17eb26e4dbdc41c3353aa1052eafa74562798026
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab88dc6bd0246ed6709e2fae50c93f1c919c680d53811112dc8aa6448999189d
+size 21099474
diff --git a/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84bd41114ba8ed427887d533f3b36765ef12e2f1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063400/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f098c704403f6c56319ad2c7e66e8410d8661643680d1298cf3b351de99e30
+size 1068361
diff --git a/TASK02_A210041B900443_20260723_063430/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063430/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d19487b7587fa8c5a7721cfa6f522e7e94991d63
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba255f51f478f946b8319a67fde4d6d20bcc27321abe281d98f42358ca2f5fb4
+size 298716
diff --git a/TASK02_A210041B900443_20260723_063430/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063430/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5316bc1057283e98a02d49f5e21ddc4a4439bf58
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 552, "chunk_index": 0, "length": 553}
diff --git a/TASK02_A210041B900443_20260723_063430/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063430/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af12341c6a88330ae38404235b07869ce75a64b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 552, "num_frames": 553, "num_steps": 552, "num_samples": 553, "duration_s": 18.425699472427368, "fps": 30.012429152419514, "start_timestamp": 0.0, "end_timestamp": 18.425699472427368, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063430/meta/info.json b/TASK02_A210041B900443_20260723_063430/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7eef4878074ded05adec3c1a7b79cfc6516720e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 553,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063430/meta/task_info.json b/TASK02_A210041B900443_20260723_063430/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2d0d49482bdad568a3bc5961cc22b8cd38e86d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1941",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:30.884067",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063430/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063430/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f77c656056bdb8d79e9bcd0be523c58a293205a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b3206c6fd66ab5983b816d051717f7a6ee33931e70aaf241bcb215fa8b0a19
+size 10015700
diff --git a/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49cca842ffb68668df454613f46a2513f56e336b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8082bc2d226f4babeabfee80dbb371eff2dcf97375c55c6974ea29cc594aa6cc
+size 2641698
diff --git a/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6417b8343e2a31c954cd7f83d9fbeeb15e54374d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af4d3f57518c2619ea840179d81c25307233bf3adddbd20dc982b0d0974cb90
+size 15591362
diff --git a/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e34871150155bf610049ae010b9d28a82f5c553e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70167efc84b6eb49ba342687b26fab93c75ef51b4f43374b1672673d2a6400f7
+size 14583977
diff --git a/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c39726843ce9a4fc92573939ba6215cf159af85f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063430/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50da20db728955d8d49982ebb3029efc8b0f7534e8fc1c09ea871f8f4bdd04a
+size 553763
diff --git a/TASK02_A210041B900443_20260723_063737/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063737/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c215c6748ea1024372f347f655433501599399f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba41e8581ff17419640ff103326e4fc68031152b1d360627f4e8c6a14225c40f
+size 60522
diff --git a/TASK02_A210041B900443_20260723_063737/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063737/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a082598eed231819f47dbf6e9e11e9cb8437b74
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 117, "chunk_index": 0, "length": 118}
diff --git a/TASK02_A210041B900443_20260723_063737/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063737/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c83f7c254f4ba46dcf9c87b07aff8b1fcad09b83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 117, "num_frames": 118, "num_steps": 117, "num_samples": 118, "duration_s": 3.9300947189331055, "fps": 30.02472165150086, "start_timestamp": 0.0, "end_timestamp": 3.9300947189331055, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063737/meta/info.json b/TASK02_A210041B900443_20260723_063737/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5657104a491822b5e9306f096faa0238b105c942
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 118,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063737/meta/task_info.json b/TASK02_A210041B900443_20260723_063737/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d814af765f3267aa361ffdb3d36c837939e8e5a0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1944",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:30.721564",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063737/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063737/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a26400bb31b3008d74b8c0d619f3f465ee546fde
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046b2e8b503b6c340c13a2b8715c0e65f0fddd4752cbabc428e974902d18b649
+size 2562340
diff --git a/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8014e0df57a72f8fbe6b3a0c5592c17aa4a2e6a2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7553c07e023d5ea3cc8d2d938f0729176fc91cfdc8bf40779cf4d871f80976fb
+size 759564
diff --git a/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7b7a6f34dee8f8668a6b085749052ae77928c6b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a90480b0efa9f31f133e45884d49af6e5ee3c76871cd876d1146970c8ef1712c
+size 2623109
diff --git a/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89595152b51c2a6d1b10abd2d29cd923d4dea462
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761f9f041646f42a19cc9241bc061879d0b0bee7fe02a76fbdfc04a506a7c7fe
+size 3111561
diff --git a/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d483d7302f52b3d687566a53e267f82a131194ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063737/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5e45731522ba50cb2e1d7da4dbdefa7094aa4d1dcd4765b172589706f8878c
+size 131133
diff --git a/TASK02_A210041B900443_20260723_063756/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063756/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eeeb3252a83764668f2930a395fe9739a8b59bbc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1fb7e0987fb1929e81ad8fa4d36add7f5f49eb1c343c015fa8995dde279053c
+size 268855
diff --git a/TASK02_A210041B900443_20260723_063756/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063756/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9055abe9bf5b9fed8727af49659079fc973a30d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 499, "chunk_index": 0, "length": 500}
diff --git a/TASK02_A210041B900443_20260723_063756/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063756/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..033146ed7d2a59f9b3f701ef6050323105d0cd9c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 499, "num_frames": 500, "num_steps": 499, "num_samples": 500, "duration_s": 16.649279356002808, "fps": 30.031329843698472, "start_timestamp": 0.0, "end_timestamp": 16.649279356002808, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063756/meta/info.json b/TASK02_A210041B900443_20260723_063756/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f09973e6102cabcb81fb50b7ce7ca491cb4abc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 500,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063756/meta/task_info.json b/TASK02_A210041B900443_20260723_063756/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad5768eaadddb2ef0925404f464320a27de1cd1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1945",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:30.508643",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063756/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063756/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46e4cbec30474c9cc32663437e5f36a1c1ed269d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e468727f1fcc147abd5ff56432a788bd20d492854ccb6831b2d075129e38c5
+size 7825546
diff --git a/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6651f97bc3b48f553c8d162d9d8608f7c761fd4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9b91bbbda510a4515c24a3313e7bb9babdd6244736901dc2335a8b98df7bf8
+size 2931791
diff --git a/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a37fa3b50fb0196919a08c243918d5c680302314
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73d270a7c1a7940a9abac6594947d7defaaa969ef1c95584a92929d608f47f9e
+size 13429709
diff --git a/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fde71d618c71230f6eb3496bd7ee8876a2921d2a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6359dc2fc46931201eec5f081b5eeef49849bb38d839f9e357b49d67e03c6960
+size 14577191
diff --git a/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea3cc769059d6bce273896a8313c8f68279804e4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063756/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f736b00c6626d5e2a925f9b2aeadc2d65c65f8dfefcad03608b6dc3aa17ea83
+size 706578
diff --git a/TASK02_A210041B900443_20260723_063816/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063816/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7e6bfd27f7f685d9837ceb4d1088e1442d631cc0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f9cad875f09be852a5fb0e82ec933cbcf523ef9f4851ed581725b5a3514e12
+size 275731
diff --git a/TASK02_A210041B900443_20260723_063816/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063816/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e32c0e1199f87a803df42c8288e0f230017ad808
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 520, "chunk_index": 0, "length": 521}
diff --git a/TASK02_A210041B900443_20260723_063816/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063816/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c3ace1a2e01463137eb5a41e059fb2ac4a8a42d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 520, "num_frames": 521, "num_steps": 520, "num_samples": 521, "duration_s": 17.360069274902344, "fps": 30.011400977138717, "start_timestamp": 0.0, "end_timestamp": 17.360069274902344, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063816/meta/info.json b/TASK02_A210041B900443_20260723_063816/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5425a11601b6194e605d5a2a2faabafd37589921
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 521,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063816/meta/task_info.json b/TASK02_A210041B900443_20260723_063816/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a6f7ea438a66783a82d52497d1e3dcf4f83f2e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1946",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:30.165083",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063816/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063816/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..133bca01a38993ee847b24e7d36bf5708d832604
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc74b44a5598b1ac8c439c6bb364510c7031ce7cb0c2f4f50a1a6d18e92a7f88
+size 8014420
diff --git a/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..468d9b47bb2fecc7a19884d22bf361d71e7dfb32
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22c7a997b8bf547c043f77ccaeffa5899e53cbce56a664dc46ef655038e61ed
+size 2763903
diff --git a/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69e338e94b3235d4f96feda2da921bcd137a4a90
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1cc13c6c00ede96583c6a3b2b823cb1a9872b6fb6fefdab38de0774ecb5575
+size 11909579
diff --git a/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4878d060aeab4aec814f502d5b8f6370b038fae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b627ec3502f261e79efc60be898a44ddb85ce9e04742f4e9a110c6b8b1405658
+size 13637517
diff --git a/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3eef391ee2a5fe7b179d27b9d69735bf2601906a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063816/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53f2c1dfdd4a360618c686fb9df6ddc90a0e7745a1ccdd72c951021a1c521f0
+size 708274
diff --git a/TASK02_A210041B900443_20260723_063836/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_063836/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7ebc0136991918999aae153e8ff91f7ef4a989b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c997a933fdfa4787ed1819c948425b9684bc24aa5323223f58c489d0ad499d52
+size 342532
diff --git a/TASK02_A210041B900443_20260723_063836/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_063836/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec1a4506886c9ffc59106171d3ce036c4ff58a60
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 698, "chunk_index": 0, "length": 699}
diff --git a/TASK02_A210041B900443_20260723_063836/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_063836/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08e73961aa75a869da9f3b241bd72976fc431a18
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 698, "num_frames": 699, "num_steps": 698, "num_samples": 699, "duration_s": 23.289003610610962, "fps": 30.014165126477153, "start_timestamp": 0.0, "end_timestamp": 23.289003610610962, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_063836/meta/info.json b/TASK02_A210041B900443_20260723_063836/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e236efe479c2cf893e2ce0c0c273d8e79a8de5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 699,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_063836/meta/task_info.json b/TASK02_A210041B900443_20260723_063836/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2641fb4e23de002a97873622085bee0fe639fe9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1947",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:29.905918",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_063836/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_063836/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee89912adf2eef842a5ef3ce6fc85b53433ca867
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a16a0b339a20e3013539ed0f866805d7e8d4f6bc09bd84671a291f152721a5f
+size 12390263
diff --git a/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0c26507d75610bcf3e96b55a23b8021c6e0f20
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce56936d9b092dd319c90ab2497ff5ea5e72e1bb9d01ce352af4a8a90169fa3
+size 3526270
diff --git a/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f665a3b8071b2b0dcb2bd7ad494d0f094c26cd90
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9cbaf0dcf8a1a5b42620591e9eb60c3a0c1175a13749a972523ee32aa918c58
+size 17099356
diff --git a/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20cef5bfdbcd569938d40e3aff50cbfaf2cea763
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bc8a2e7e831574d8491c2ddb262035307716e6ec943cf093368dc59df6c1f8
+size 17621783
diff --git a/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20c9e0d0fd32af3fa6195d018ed9f0ea225ec463
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_063836/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16a90a2268ddf3c9a1ad0766728ad5cba1d9502c4b482ce4e9d8e29359c8973
+size 850018
diff --git a/TASK02_A210041B900443_20260723_064033/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064033/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..994ffed6e4e613bffab5c553b9656c0282ca89ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa35b148ed67f780751df37d60575e788d1eedbe17fd891a001ba08e36f034d5
+size 302918
diff --git a/TASK02_A210041B900443_20260723_064033/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064033/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab98fdefcc6a223b99e3998dfcce569971192075
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 566, "chunk_index": 0, "length": 567}
diff --git a/TASK02_A210041B900443_20260723_064033/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064033/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce78a1ff39751d829bfbd61c9e29dcbc7e042e7b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 566, "num_frames": 567, "num_steps": 566, "num_samples": 567, "duration_s": 18.872610092163086, "fps": 30.043539141173092, "start_timestamp": 0.0, "end_timestamp": 18.872610092163086, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064033/meta/info.json b/TASK02_A210041B900443_20260723_064033/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bef12a23005659dc9d7096f723f5ddc9bec16ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 567,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064033/meta/task_info.json b/TASK02_A210041B900443_20260723_064033/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..143e54d805d3799bb102055b4ee20d5c6773b935
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1948",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:29.785178",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064033/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064033/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5366c6a7bd76f335f0ba4f3d2421a770dfba201b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a86dc4e3eaa35e5b9fee35a6750607c8e262e5fba447885312fd7cdc9f45d68
+size 9687315
diff --git a/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e8dad7f051b9e8bd479078f607bdb17f1367777
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:550b9671d3d269bd3766fefcc76c4fbff880245495c7ade53ad7733468e0193c
+size 3334753
diff --git a/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1e4929d497bcf107e51182b4a869bc8e42d9c23
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c5fd2a71f048a546752d0a62bf2b246fc8c30a24cdaefbbc154e922fda0f6ea
+size 14302679
diff --git a/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e96ebe300d4bde36300481e93cb85be38af7a32
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a856ae94ad0fa8b9454b6b194f1fa4bb3109a8760eabf8af2e89f32e1369054
+size 15321949
diff --git a/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d53073aad3e26ff00efff4ca7cc9a317c77e501c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064033/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919cc81b5732e1b2c44edfaa90482fa945d151d06c05b4b662427161a1879add
+size 840104
diff --git a/TASK02_A210041B900443_20260723_064056/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064056/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..100d8b20dc593ee15212cdcedf07112d211ebe05
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58da4a8c251e6a789524933945eaac7cf6e13d0f06ba3ae74f449b27f0da675
+size 240780
diff --git a/TASK02_A210041B900443_20260723_064056/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064056/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3fa3f7175de584f5ff4a830a17d41c5126e7183b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 463, "chunk_index": 0, "length": 464}
diff --git a/TASK02_A210041B900443_20260723_064056/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064056/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e020ddf12aa308ed2ddd0e4f843b82ad21ebf0ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 463, "num_frames": 464, "num_steps": 463, "num_samples": 464, "duration_s": 15.444393634796143, "fps": 30.04326430495855, "start_timestamp": 0.0, "end_timestamp": 15.444393634796143, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064056/meta/info.json b/TASK02_A210041B900443_20260723_064056/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c935df400f1c15b6c8277c10361e1de61c7479b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 464,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064056/meta/task_info.json b/TASK02_A210041B900443_20260723_064056/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..710e323fe5126ad4a988fd4c3b1ce67806cc9b7b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1949",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:29.614311",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064056/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064056/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..877b0f6fa7526e5de99856e9e6d628665b4e8a98
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26634c1cc1d8876184ecb9f4a274517c3991a98bbd9cc8db9d276a71df709af
+size 6983726
diff --git a/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e18b66448fce8abe02cd0db514094541587da3a5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a056d4dc6260bf3f8cfb6d1489487545bebd774f4865d1ebc9e1edc0515d58
+size 2635568
diff --git a/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56614780cc73eb29006ffc8deb2bcd75ca6c4986
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35f9159c1dab56028d71b90715a736cf207ad2d46d70927f6aa8ae9a9760aa6
+size 11461858
diff --git a/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c01d3fe8e1ec0e470b203bab599b34345892723
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb756b6ad197049437fb4c53422e125da7f06d54725076c9ede6d7dba4f053d9
+size 13525852
diff --git a/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..078124b9c5113ace70515fec652eddc282ad48ae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064056/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4d902dc181c37ef9e340100e7d85ed1922d36283206f2a4b9015cd7500e817
+size 750716
diff --git a/TASK02_A210041B900443_20260723_064116/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064116/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b4f75452a101f5da53dca17ce24e36a6e6a24280
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542ac6c38304529448f51fff25a859dab6da37d09e5401ca1e96d6706ac89337
+size 284003
diff --git a/TASK02_A210041B900443_20260723_064116/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064116/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b6ecf29bd0f729a53e1e9ba1381ee2011123342
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 559, "chunk_index": 0, "length": 560}
diff --git a/TASK02_A210041B900443_20260723_064116/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064116/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb829cf836148f9adc9aee4344eea825621f2477
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 559, "num_frames": 560, "num_steps": 559, "num_samples": 560, "duration_s": 18.63830876350403, "fps": 30.04564454348696, "start_timestamp": 0.0, "end_timestamp": 18.63830876350403, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064116/meta/info.json b/TASK02_A210041B900443_20260723_064116/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..359988efa30a9784b261b3b6a01dd964fc67af0e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 560,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064116/meta/task_info.json b/TASK02_A210041B900443_20260723_064116/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4cc7a7366d3100000c778b8c186d7605c3d5a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1950",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:29.441637",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064116/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064116/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e42b289b284c91a0e4888217e37d74f3f1034e64
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea36763a0332e2ad91dfffa6181cfd93bf68ec40178ef8b86dc8eb58b1381c8a
+size 9386919
diff --git a/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db7d293300b706bf0bd85756dbea9d5c3d3c0704
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd37a1ecfe570eb5d5b74cd03f15904c7dba2916ca1d442e9970936edb5f5b6b
+size 3868793
diff --git a/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ff0d8a872270d9e4a6aea337779a621ef6066c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:621164689bdaf909e5ae40d5e24b75f72ef64c20a6111dd2e77dcf2facfbf749
+size 14641604
diff --git a/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82c9ef2ec5929c2de53743943439ee1b6310c8fa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5269c4d4fa5ed7cbd3300244ff119a7a78dd7123613167d63ca75fd525a353
+size 15790938
diff --git a/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb09f65a9cc3c2155acfdca37a43c69ca54875bf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064116/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac483b634db5b01de6202d3a2d3baf6e0da5563d16a9018810fd09db605a0c14
+size 836610
diff --git a/TASK02_A210041B900443_20260723_064138/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064138/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..209d98ea4992754b4ec40dcb82a53df2d8dcd606
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c579a310e018803826005f9d57476f1be8cdac93adbbbd9f387499a5250a26da
+size 273942
diff --git a/TASK02_A210041B900443_20260723_064138/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064138/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39f3814b6c2109f0342f8300fe4e017684442b62
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 548, "chunk_index": 0, "length": 549}
diff --git a/TASK02_A210041B900443_20260723_064138/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064138/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f57690f71f31be5db61da2da39b89b2b55b8a5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 548, "num_frames": 549, "num_steps": 548, "num_samples": 549, "duration_s": 18.288212299346924, "fps": 30.01933655481487, "start_timestamp": 0.0, "end_timestamp": 18.288212299346924, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064138/meta/info.json b/TASK02_A210041B900443_20260723_064138/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d8c6a96d92545578faa00860e4302b41c1f002
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 549,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064138/meta/task_info.json b/TASK02_A210041B900443_20260723_064138/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b29f1736abbbdc6d693a09c44347a6231a4157a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1951",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:29.080472",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064138/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064138/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31a22d18ea1a7f15fdbddee53d77773e47f4c658
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f451565ab0c13e35a3baa639ff9103e4410e82ace5b8d4f7d12140b18cc12c
+size 10031124
diff --git a/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97e467d80da4a9bc9d9d33107d11258bce60c9c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0741cdf6de32a64a5d1fd13e9311b756795448ccf7d04ce922ac6fadf828aa
+size 2109654
diff --git a/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a651a2a2e26adfe4ad41df35793df354b9313982
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e68feffd1a68634792ebedda68a8a5ed50cce9273f422a70340744bbfd3624
+size 15294880
diff --git a/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8f13ebf29f1c4a616d319fbf6cf86f3074485d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b393d0e33e1b763a75a29ce04141b1cc3a5b432e315589de063371e2dd19ebf
+size 15728774
diff --git a/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..289b536bd1f8053267feecf509dd28ed6973d89e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e228caad0209520f0c73db26143212ef76112b980b16aac8a01914f6daf5678
+size 684980
diff --git a/TASK02_A210041B900443_20260723_064200/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064200/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dd966f3ba3685d46504ebf307d3d18a129a9ae5d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f7800ce564fe30e54194dde4439ceb221b04b345210218b956f3e89fa9aa3f0
+size 290892
diff --git a/TASK02_A210041B900443_20260723_064200/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064200/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ce13318b44269c942192cbed4952dbb66486305
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 549, "chunk_index": 0, "length": 550}
diff --git a/TASK02_A210041B900443_20260723_064200/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064200/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..434336404a33aadbf9957d1743ae2ee6bf9b7d15
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 549, "num_frames": 550, "num_steps": 549, "num_samples": 550, "duration_s": 18.305402517318726, "fps": 30.045774709386777, "start_timestamp": 0.0, "end_timestamp": 18.305402517318726, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064200/meta/info.json b/TASK02_A210041B900443_20260723_064200/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f1cc0a4f8054de7c64204b05dfaa8dd4891d688
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 550,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064200/meta/task_info.json b/TASK02_A210041B900443_20260723_064200/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7802e081d3dfa3ba3695ab7f7c915cd7e4bb618c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1952",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:28.906275",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064200/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064200/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dff12780c93b96f327469946dc003c32fe50c639
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bafd7b91191a195745ae46f9387735bb410d2d09ad2b86acd5463a301862858
+size 9725967
diff --git a/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05e9f7f264374b9431303dd97634ede746aba043
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4385cbdfc32af44e7c8aaebdc0185ac3b5cfa4c1b6ec154bfd371739e6c19a2a
+size 2445152
diff --git a/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dae29ea2cc0ab9f50b0908c45890bc84cc6f0f48
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379e7a37f138018a2f6fe1933478501656f87dff4ac184b3c0f348db3649e4dc
+size 14482481
diff --git a/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90dedeeb95fc56669e4416c026c7a3836eddb3d5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780bc7fda54b5d4b6a2abfec78423562b11a10035e3ad48c6fe19eba58978e6c
+size 15500475
diff --git a/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6a2099a3926731e46171822e46b4f50d83a7914
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064200/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5417e31e59da2f2948840bf1e8c3e6541413a3050d7c26fa40b32e15102191
+size 633046
diff --git a/TASK02_A210041B900443_20260723_064225/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064225/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4141d1dd0a438753ac18ed557e6313135c5d4d0e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c42461193d37698bb016fb52cf67eea80bb403a9f9b7819f12fc6de8ac8eff
+size 243027
diff --git a/TASK02_A210041B900443_20260723_064225/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064225/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4945f489ca97000b81e79cc32c50b0e3dc5758a2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 468, "chunk_index": 0, "length": 469}
diff --git a/TASK02_A210041B900443_20260723_064225/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064225/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c82cc3bec9fccdd7a941c26bbd782c897c038a70
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 468, "num_frames": 469, "num_steps": 468, "num_samples": 469, "duration_s": 15.62618899345398, "fps": 30.01371608883461, "start_timestamp": 0.0, "end_timestamp": 15.62618899345398, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064225/meta/info.json b/TASK02_A210041B900443_20260723_064225/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9b195805df9154bd079f307bb9a94d06462ae3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 469,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064225/meta/task_info.json b/TASK02_A210041B900443_20260723_064225/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ac9fde7853f50da246fb2727892ab99948f0e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1953",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:28.747386",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064225/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064225/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ef69f39c2c53635ec03709940fa49584dc9f696
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ef66f9522acbbec781f991aec6dafa9f3530397c4931200ab0e8f0d85850b5
+size 7463055
diff --git a/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32c12d70ff018aff43ff42158122d0162f4f40ac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118579b564fccff7ebdd0252d8eff5f71756fe63c18d091ac076f9ecd716c6ce
+size 2341333
diff --git a/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0dcfb50bfcb38127a1469db58089af8de3248f2c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5aead8afa6124683cdf56bd03c30f3041bf48fcce899bb91bf478f7007b70c
+size 11727696
diff --git a/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa2d4238abdf00343835e92c11dcb369c7a17efa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36ca5fdc0964c8ea1df666f8321b1ffe8c44777860258cd2a8974c155a0f8c6e
+size 12615196
diff --git a/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b87ec061eb89f04d78000ba1222e41608e946d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8bbaccba5cd4878d269a5370dcd5542d14f8460aa70ae4354c1ec25d364c7b2
+size 655948
diff --git a/TASK02_A210041B900443_20260723_064341/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064341/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0da7e4396f07c652ad4b4c443e9a232716ce2774
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28c5c2bea6a3565f586bf32938fb184ef55eab89970ba7b288348d0cadc1857
+size 275429
diff --git a/TASK02_A210041B900443_20260723_064341/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064341/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5880e36c760b4dd37c7ee3d3cc78e0e5ede459a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 525, "chunk_index": 0, "length": 526}
diff --git a/TASK02_A210041B900443_20260723_064341/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064341/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..844536758691931413e626fec5531969ba77003d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 525, "num_frames": 526, "num_steps": 525, "num_samples": 526, "duration_s": 17.525240659713745, "fps": 30.013853174019214, "start_timestamp": 0.0, "end_timestamp": 17.525240659713745, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064341/meta/info.json b/TASK02_A210041B900443_20260723_064341/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7626095b74672cdceaf97a29b0eaf8f4d50d04c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 526,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064341/meta/task_info.json b/TASK02_A210041B900443_20260723_064341/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc36e4fcce03e9b1c239fdea9e0165aa15d94612
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1954",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:28.473926",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064341/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064341/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5deb60bf0ae1f01674d75f20fc416a19633dca2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0cb8ed279abe05b5a95dfa0613fcc4a69dda5eaf724a3120d575acca87a4c8b
+size 10372155
diff --git a/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61e76b765152b99e40aae2c4de20421c9aa7a8ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52153d5e08c8c0871cb9091065344be650bf8f175f595814f1cb8d4ffd8e247
+size 2645376
diff --git a/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e495f10aad3d79de8358b4241b37abbc7b91e137
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907b1f62fb876bab50ae17bde2d0390de5508bcc9b43cf3d3f40604f2df25f9d
+size 16887654
diff --git a/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c13cadc91106da1fcaaa7b0504d75c449136fa8d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2769719e135b6a1fd394213dcb0e3770cbda676a000378509b0d601fa1dbd20
+size 15950627
diff --git a/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df8a7a418120a2eb70df929885a3ecf273416ebc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064341/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5f0e1cc554f9b4d629b20a86a5118002fac0270b5a04f579ef481c98dd1ee9
+size 732099
diff --git a/TASK02_A210041B900443_20260723_064632/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064632/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1c82a742ba761c173e47dea543749702c2ec82d6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffcaa110e7573ada4e4c793b0c999df26868af370f7a096496d263f2347dcd7d
+size 253237
diff --git a/TASK02_A210041B900443_20260723_064632/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064632/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a3405fcd7d9d7fcf31788d014d2bea696a090bc7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 487, "chunk_index": 0, "length": 488}
diff --git a/TASK02_A210041B900443_20260723_064632/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064632/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..848b0c77d9ce6bda30cba9876820f8559ade8220
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 487, "num_frames": 488, "num_steps": 487, "num_samples": 488, "duration_s": 16.26152539253235, "fps": 30.009484855836487, "start_timestamp": 0.0, "end_timestamp": 16.26152539253235, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064632/meta/info.json b/TASK02_A210041B900443_20260723_064632/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2ae86d7d0860e30fac978abface06266b3abb8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 488,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064632/meta/task_info.json b/TASK02_A210041B900443_20260723_064632/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c528d646bd067bf4f5d066a8ba91dba3a40e253
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1955",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:28.035376",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064632/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064632/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1aceb85a0222c3d92d4c73693df739bb4d755b9b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a18a7905ed49399e518119ce24a52c77c1f056bbcd841e1e2dd1ab53676322d
+size 8204141
diff --git a/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dcae16d280a8ba5693246a5afcdc3e2535a3f52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ff5e389b14d72ba60722a607558dce16a3fc3f59d78f13791f841a31289721
+size 3205232
diff --git a/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50acf65cc7d261b7fa51a3cd67e436d1bdc04929
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cedeb568d99d03b270187f306fb062fd06624f9911ef86950f4d1b4df04dca
+size 12511899
diff --git a/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8fcea5d70641409fd10fdb3a6955fa646ba897b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35dc5077fbb0b2b4f676b3f163245ef157a9d0739d0e27298a187315ffed6718
+size 13027858
diff --git a/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..180f913e0a3bb4b66b6af8078c5ffe7cfc3c90eb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064632/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5206f34e30c709b3f60128a57f45206f2c64cba5e7f09bdc7096ff544ffe49ad
+size 769044
diff --git a/TASK02_A210041B900443_20260723_064652/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064652/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d52d155d908e5419c8d88b53debce1b0024e3b37
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc25fd46b62c5f0799292bbd496fa4af6a7f8e27cf274315af559c41a80bf20
+size 233397
diff --git a/TASK02_A210041B900443_20260723_064652/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064652/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bfe0aef431d07ef3ee4001a20128164c52eb8199
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 450, "chunk_index": 0, "length": 451}
diff --git a/TASK02_A210041B900443_20260723_064652/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064652/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c46ec60bfcf8c775772b53c4b4b848b08cb7cdca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 450, "num_frames": 451, "num_steps": 450, "num_samples": 451, "duration_s": 15.022770881652832, "fps": 30.021092883124645, "start_timestamp": 0.0, "end_timestamp": 15.022770881652832, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064652/meta/info.json b/TASK02_A210041B900443_20260723_064652/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..744cadcaa4f7271a37954edbf35ce05502b58440
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 451,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064652/meta/task_info.json b/TASK02_A210041B900443_20260723_064652/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63f751b3eec8981be1583355109ee1f5086f3b5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1956",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:27.848233",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064652/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064652/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34f3251561651a479f33a26ccd98a3f736b8a957
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d6d116b6ae339fa69ad5a558ff5faadc241f5be0712a94356a05ba1f3bbf4c
+size 7697567
diff --git a/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0e6a3ece412f0add9efc15a158ab5e0ce75fe18
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46878dcfec955b910a6d45fe6ec21c6d3516e89a79c8ac87750ea233aa579ca
+size 2890916
diff --git a/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67a1b85cba84c39514c34c5a32e99a62b5ac4f0c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9dc25b7935247b51ecf7998eb8226164544f0aaf67a2f73cc1b3fe977c5a99
+size 11728209
diff --git a/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d5bd5201f4f7c2d2fb2452b430b39649a83fc45
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1533093d78e6fd7b6f421de49bd6b45161ddf5f25b7d599ac21c3f660437307a
+size 12910624
diff --git a/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b63db199fb3873acf915062f6527cef9294fd6b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064652/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce88c1d935986d062eb50dbe0ac431c3e370c2bb4f561e479e4192d990808fa4
+size 788591
diff --git a/TASK02_A210041B900443_20260723_064712/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064712/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8013a87ca1d701ea4f09eb04f5131996a1b5852a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94280d93ed71711e31daa9d98775772fc3c9583056aa9fb1a20d1d9c7b099de6
+size 243455
diff --git a/TASK02_A210041B900443_20260723_064712/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064712/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcaa3c429f0e17f6a3440871f5ac39f58b8a52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 457, "chunk_index": 0, "length": 458}
diff --git a/TASK02_A210041B900443_20260723_064712/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064712/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b7706546df2d563bf468e25302fd2aaf2592bbc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 457, "num_frames": 458, "num_steps": 457, "num_samples": 458, "duration_s": 15.252870798110962, "fps": 30.027134305544788, "start_timestamp": 0.0, "end_timestamp": 15.252870798110962, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064712/meta/info.json b/TASK02_A210041B900443_20260723_064712/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d05c2dd399b98d7a111f643ec9edabfd2040ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 458,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064712/meta/task_info.json b/TASK02_A210041B900443_20260723_064712/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..61435fe8bb359c17552d493b52d1886adc96d619
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1957",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:27.682088",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064712/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064712/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9d6eb2629f063c1ca34fe8aed6287d977c3b3df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbfb3ebd3672ec329d9b2c961871056b1cd6c1608eb948ac3183f1e62a23ec0
+size 7223616
diff --git a/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0acee5a8fa26da48682a0defca6e26b347cb057
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ca5c563b8d96d52e466d3b4cf135c379d761cb42ab9d9aed0d8d063571aac1
+size 2835223
diff --git a/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..456ab1e7c9de9063fcf80a31edc5e7b058e71444
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d0142b204e0e88cbea905caa640f8b991af3011ab2e26506e92fb026a81f6b
+size 11710912
diff --git a/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96641c7e760079992ecbaf23581d926b07f8900b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ce5660a0df35b7d128b3f2ef012e8c0d52a0e7d2a3b04087cc2f5bf8feaad83
+size 12612326
diff --git a/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcb6a382c7afbb5c5a078b329ad8e7dd1d2f676b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064712/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0094f4de8947d7355412db16867465e5fd8063da37990c9da26bc3f8a6fb99de
+size 735311
diff --git a/TASK02_A210041B900443_20260723_064731/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064731/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1c60f3b5bf0c454a34d29cf091aa8bcb3dde0707
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:289433911eef85fe638b9cb21a0f6e74aa99bfafde055403c9c92e2a4a5bdfbd
+size 305909
diff --git a/TASK02_A210041B900443_20260723_064731/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064731/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..952ad812ea8d4c71c51707acaf5c105c14e82c01
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 554, "chunk_index": 0, "length": 555}
diff --git a/TASK02_A210041B900443_20260723_064731/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064731/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3673ded1356a9b2b492811ad624f0ab070bc512
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 554, "num_frames": 555, "num_steps": 554, "num_samples": 555, "duration_s": 18.493852853775024, "fps": 30.009971658594203, "start_timestamp": 0.0, "end_timestamp": 18.493852853775024, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064731/meta/info.json b/TASK02_A210041B900443_20260723_064731/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da2f46f23ca887b46bc59739937a5b70111782c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 555,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064731/meta/task_info.json b/TASK02_A210041B900443_20260723_064731/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f11fc52be89046a1f9c8af26466d4c376fed93
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1958",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:27.419580",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064731/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064731/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..617796fbc3922d0d98296f89279258cfbc17c158
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe20cdd4f792232ad180cb63e43e1bf1bd6407510cf07c6e42775a8ff48db34c
+size 10162702
diff --git a/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a7e520aafc1b123b027310e92e5664cc030ba09
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a4638a47d61a08543dc697ad99515d94b171afec81324e362ed0d97df108c0
+size 2730369
diff --git a/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0eac0b65f5a4d13adc1fc121f51718478b9d1c3b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d397d7c4c2433f72067e5de663ed861384c386c1de2e4838a14a3c4f78df647d
+size 16030212
diff --git a/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cdbc5295ba8db3395bb535b2f21a9f54dab867e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b636f66d4bf502587c73cb296cee676e25cac21d2f806eeba55bdbb6cf77bb
+size 15811610
diff --git a/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1a9c8f4a0c9fa035aae1bb85f1ae6fcacac07c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d71bdd249b6d84e17cb91b9ec5e28bc690d87907212fab98841f4fef356dec
+size 584617
diff --git a/TASK02_A210041B900443_20260723_064754/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_064754/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ee0e37eb5a100a31348342a6d8eb8a6270d63ca5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc02a322dc23fda8859beb2764ce0c37f98c5a37df24c831add9ec9e3df777da
+size 243792
diff --git a/TASK02_A210041B900443_20260723_064754/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_064754/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dae03c17ff5fab4b5a32484cbd339a2e3ef744db
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 434, "chunk_index": 0, "length": 435}
diff --git a/TASK02_A210041B900443_20260723_064754/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_064754/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..605667f5da72d47941cef3fc78447e172614d68a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 434, "num_frames": 435, "num_steps": 434, "num_samples": 435, "duration_s": 14.488491296768188, "fps": 30.023830024112403, "start_timestamp": 0.0, "end_timestamp": 14.488491296768188, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_064754/meta/info.json b/TASK02_A210041B900443_20260723_064754/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01290d3500abe7ac81c846bcb35ac046e32f539
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 435,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_064754/meta/task_info.json b/TASK02_A210041B900443_20260723_064754/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..709de8cddf9461fa59c73771467f4837045032c1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1959",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:26.961413",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_064754/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_064754/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a732396323ac142f0e69104383e4b0d1c447207
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c400e74a027a50d6a6a6d23edd0b57ac21526948f0ad10af5fbe3978f9e16da
+size 7104765
diff --git a/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2f8baf5c9de0507abb684c7e63146bdbdba9ef1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bfa26c6277374d66e9647ee0d6c28d3f1324de3c4288ade9e7cce8f59b3c5ac
+size 1764589
diff --git a/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf090cb445c58f2cf058c31127712c00452a1055
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39c662dc633e4212c2741a98d89f590796bdef1a59f30db879024fced008526
+size 11432282
diff --git a/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..799a54948fe91cac053b8f78396c326673fb2ebd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb26cecd3fba6286c69d54772058bd778025acabd977df38060d00fea8dc3c33
+size 11537123
diff --git a/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..567af412fe64da47125f271c96c994769a02f811
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_064754/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd82ffc4647f372c96a87cece3f1cf8f19896eb0ac98536c8f4d99833e0ce5f
+size 472273
diff --git a/TASK02_A210041B900443_20260723_065918/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_065918/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..439fc412bbe7ab736d2cdbd6c3e22bbb78e5c288
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64140ad187ad0f8cf5e84469f1ba2fd262d70c883beb4707e66660c911e34e1f
+size 229403
diff --git a/TASK02_A210041B900443_20260723_065918/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_065918/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c1d91c44d59cc429a09d9ea628e65a7bb86b634
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 451, "chunk_index": 0, "length": 452}
diff --git a/TASK02_A210041B900443_20260723_065918/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_065918/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e092d0badcf309d5df30a4cb44faae4ffd7d3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 451, "num_frames": 452, "num_steps": 451, "num_samples": 452, "duration_s": 15.055975675582886, "fps": 30.021302487425878, "start_timestamp": 0.0, "end_timestamp": 15.055975675582886, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_065918/meta/info.json b/TASK02_A210041B900443_20260723_065918/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..563d1ce7421f5d8011d448df6c389a46764aeb18
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 452,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_065918/meta/task_info.json b/TASK02_A210041B900443_20260723_065918/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4aa48d49bf94390f2255898d2d27359b81188d7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1960",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:26.845998",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_065918/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_065918/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..709548a2410b8a6ea0c5d9c8bdcef6bb51bd708d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8212a9b2f5e5dea9a702743277ab30c91c54c2ee853bc06532c0556aed1303e
+size 7613891
diff --git a/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..040ec8fcc7e8608ae40e8299759d8955633dfd59
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d5b0e54bda2efcd570e8c3dd94248c0093c58887ac9c3da43feaa652869279
+size 2665049
diff --git a/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af12e31415a962408b98c1a2fc823f797cdc4862
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2a453166e2e6107ced2121a904b240d65bcea63df401e6d52d433f66f08262
+size 11286042
diff --git a/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b0ac3667844b0d538e5a364ebbcf0555d93a553
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d873c285f0ab81563d001087dd84d4defe993068ca26bcd6b639a82a470103f
+size 12906839
diff --git a/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a2b6ed647651c3284ddacd24d88884a6d7de51c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065918/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6662376721685c2a3345551eceabbe5dc4386258cb29b812f5ca32f4688c4eca
+size 729390
diff --git a/TASK02_A210041B900443_20260723_065955/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_065955/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5d3ba2fb811713ab365bcc21a42c6e01e685a858
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af52494e26bbe22a73c990827346fad3a0fdfa2804cddad6d64d1bd8cb18617
+size 303502
diff --git a/TASK02_A210041B900443_20260723_065955/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_065955/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8acb14838d6b555e0d89aae1b66af3ec67e3dd40
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 582, "chunk_index": 0, "length": 583}
diff --git a/TASK02_A210041B900443_20260723_065955/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_065955/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c158b5ddd15ea4e2e451edc7b81e444657448c6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 582, "num_frames": 583, "num_steps": 582, "num_samples": 583, "duration_s": 19.405459880828857, "fps": 30.043091149618174, "start_timestamp": 0.0, "end_timestamp": 19.405459880828857, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_065955/meta/info.json b/TASK02_A210041B900443_20260723_065955/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4133d524085eef9975e289d96cca45466d2a950
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 583,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_065955/meta/task_info.json b/TASK02_A210041B900443_20260723_065955/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee924a2e6564ec8d92bfee6c3d0efaef6061938
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1961",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:26.662583",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_065955/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_065955/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00401e7e7a1f43b583d0d9c5099624bb97eb320f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab709d9d9efe58ec346b60f8e92834038547a76718ea30f95ed9e025f07530f
+size 10263215
diff --git a/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d77a1acaad43ffaf0d660212db93f0e89ef810e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52fad11eea6837311acc5edee3db3cd1b85466b19ed435b189d32858fc8caa4
+size 3937599
diff --git a/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f7ae5d6285db25ab530239463d48bb417038eda
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dae960252b04c9bac148d470ed53a2f9fc7b3f81194d9a2d4f6ea217031970f
+size 15320558
diff --git a/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f377114f76f310bf3ffa4546b5330ab2f06218f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff497882147ec43504460afff0202b9c38f76368c9e905a04f92fa08363ccdfc
+size 15999241
diff --git a/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0680cf034c3379b9f09daaafb6c3eca48d47203e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_065955/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d17a5008eacf3c260c934e8de32e8c15ffb980ee916bee4cd39ced4b15c455
+size 953226
diff --git a/TASK02_A210041B900443_20260723_070020/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070020/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5d43d60abea36cbdadf8e3edfcbab50ac53c5323
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93fe4f3492ab854334832c971c42a1f318afcb3bdb2e5cb933d5baaedb0d96f1
+size 273027
diff --git a/TASK02_A210041B900443_20260723_070020/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070020/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ba43447fad8e98a4d5033c7f1ad71943ec1e576
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 509, "chunk_index": 0, "length": 510}
diff --git a/TASK02_A210041B900443_20260723_070020/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070020/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be46593edf64bfc17912090eeeb97d5b0442a3cd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 509, "num_frames": 510, "num_steps": 509, "num_samples": 510, "duration_s": 16.99886655807495, "fps": 30.002000325000218, "start_timestamp": 0.0, "end_timestamp": 16.99886655807495, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070020/meta/info.json b/TASK02_A210041B900443_20260723_070020/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9a5f21a01e11197dfbf4ae14402417d3c64c14
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 510,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070020/meta/task_info.json b/TASK02_A210041B900443_20260723_070020/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54949bbf533166be0d4864645309b75e1a18ab98
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1962",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:26.271910",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070020/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070020/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcc8efe70a34a00ffc0225d4db4ba4866466c7aa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb52e284d165924a026aad2519758154c508b44e913979820bbef1ff7b1062c
+size 8839444
diff --git a/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6595817496a3bd076ac12e0cbb2c314c5e10d2b7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3ef98d7e96014c8bba621db11deb82c91439582265749a3414f4ffe5cda87e
+size 3092086
diff --git a/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11e8cba4b48b4c07ffba6c1c8b0954d9f3935b6e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057360f134a2542ad4f6773fb5ec88c41607b8f683890b20eb489ca4079244a5
+size 14477768
diff --git a/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0ef652450ce5669043374f27c78c5278ea172ee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6eba739ea11d786406986c1069e9e55dbac970630c6e0f20c8b67f5e8cbfe28
+size 14318874
diff --git a/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6257d55ec28d6b7368f7e7040f6272cd46cdddd9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070020/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e60e00f9c2e2b62d5b78f6df4d165f9cdd2b04baa9389680d6104d6e7030bbe
+size 874125
diff --git a/TASK02_A210041B900443_20260723_070045/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070045/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b495364fedfe6084d315ab0863525119eb91803a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:119c05594e742babad57fce1a584d5aaa34a1cc5a6592bcd167be33b2286fc25
+size 318722
diff --git a/TASK02_A210041B900443_20260723_070045/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070045/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4689544fb3b8bb7bbbdc6b10864f234e278cf2de
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 613, "chunk_index": 0, "length": 614}
diff --git a/TASK02_A210041B900443_20260723_070045/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070045/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbc469d9b1483f46ab9e9b0262ceea55d0ef7b01
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 613, "num_frames": 614, "num_steps": 613, "num_samples": 614, "duration_s": 20.45770525932312, "fps": 30.013141367367382, "start_timestamp": 0.0, "end_timestamp": 20.45770525932312, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070045/meta/info.json b/TASK02_A210041B900443_20260723_070045/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2b86933cd0f597947945d5b4f70a46f12f0f5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 614,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070045/meta/task_info.json b/TASK02_A210041B900443_20260723_070045/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5808e3eff10a661d0b646528b1ce97c779a1c06
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1963",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.952337",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070045/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070045/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d136994b149893db611f93b5cfc580f23976aa62
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a33ef3c8c9d822c469d506119b42ae9fdf76819da41d37cc806ab11c5cca81
+size 12077940
diff --git a/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..685dec9f3a92c76a7d21ea6df740a7ab5637d106
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341b6700bb3e8073da65e9a27a7a435cf7b652ff20bdb70ad1ebfb55730f7e09
+size 3977406
diff --git a/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82ef225c6b080d8091b7e83d6cd0ac886cbe75e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1dfd96ff44a181bb4c221d10b7fc34c847d42238b3a254e70bea3f12c575c2e
+size 17638230
diff --git a/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30fea084aad16bf869a10ce87f373966f4fe1ac7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71a5aa958874d80b8f8ea1e9881d105d05d45d96377d86bfbb8465a64bbcd68
+size 18316496
diff --git a/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13cacd3d1fa6fb0180053e364498d2a95242e10c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070045/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81ebb1e78fabb9d45f17a46ecc86eb146f2d93c50abf5cadbdb4bc12213a68d
+size 1023821
diff --git a/TASK02_A210041B900443_20260723_070111/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070111/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..af380598088e882ef7ebea1a029ea83e7c4404b3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e98285fdd4e75c117a62847111eacd34997e322795976e9bf9cedce3b2ebc5
+size 263200
diff --git a/TASK02_A210041B900443_20260723_070111/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070111/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e57af8d8acf327513999347c5b964428cc3c56d1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 504, "chunk_index": 0, "length": 505}
diff --git a/TASK02_A210041B900443_20260723_070111/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070111/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2492be360eca1b05b678206b284915249bab5384
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 504, "num_frames": 505, "num_steps": 504, "num_samples": 505, "duration_s": 16.803855419158936, "fps": 30.05262705511163, "start_timestamp": 0.0, "end_timestamp": 16.803855419158936, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070111/meta/info.json b/TASK02_A210041B900443_20260723_070111/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..34231da58d3cb0fa7cc1feb29e8717021609e62a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 505,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070111/meta/task_info.json b/TASK02_A210041B900443_20260723_070111/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c16873fae0e2c572e6ba67ceae3a8e90a45d136
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1964",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.806287",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070111/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070111/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..197dc3cab1c50874779c853ada290bc9e446c613
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac57e5b02b76cc0fe3431ebab9d577e13947675b5edb45ce0fda7b05b7c5d13
+size 8322378
diff --git a/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ce7e756dfd6be31dcc1a2f47e76f0869f0692b6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead614629f6a3ec8b7fe084429d1dcf66be43c6b3c0e38957ea4a660c218bef5
+size 2064077
diff --git a/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a29ea9518f521ae28d25a0edcee9f7a4852a5cc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:573b6936c30dabfd5749a7df83b523b140f2ff5c43ac0edae94f0e85cc92f836
+size 13393382
diff --git a/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1480250f00916efdf2cd8194762c5c330e7fbbe7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47a56ccd9cffff3c06e23360cad4f15ec4c6083b19f1fdc27377bbeef6f4579f
+size 13399006
diff --git a/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d0654b0a14257b214c85415ac893b09d48fc191
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070111/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c775a22e784f934d072d82bbd5dd1a02eef54609e5f56bf2cd6f20576606ef
+size 669532
diff --git a/TASK02_A210041B900443_20260723_070133/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070133/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5ffabc8f6d4d2f5ba8e6f84e2e039e03b2bf4b6e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:030009301d55f983e46d7bd93bb50e67825ae92149cf952baa152dea1fa90194
+size 265331
diff --git a/TASK02_A210041B900443_20260723_070133/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070133/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ceaeb111d6549edff802ca106c95e93d1a77fdc9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 506, "chunk_index": 0, "length": 507}
diff --git a/TASK02_A210041B900443_20260723_070133/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070133/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c1091bd99d332fb070c4f582e6038ef0c74f19e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 506, "num_frames": 507, "num_steps": 506, "num_samples": 507, "duration_s": 16.87639617919922, "fps": 30.041958876557793, "start_timestamp": 0.0, "end_timestamp": 16.87639617919922, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070133/meta/info.json b/TASK02_A210041B900443_20260723_070133/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4134b33201e7a3233a21e7d3c61128dfa13756b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 507,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070133/meta/task_info.json b/TASK02_A210041B900443_20260723_070133/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7e80595294f78c2f27aba76c1712debfb1f198
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1965",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.674412",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070133/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070133/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b668b378f71ad3f3e3349bc69aabd116dfb7632
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a22008365a045d23f3b7ec99be48fed471e9d980e19706cee7b0da9f38a4a61
+size 8524019
diff --git a/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..574cfec965148cae23d6b1e87728d17fc2ec753f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54c14fd5cbbd9e840b7bdc850ec654c9b693fbb38b48ac555d9adc85bbe7beb
+size 2515801
diff --git a/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6dfb59d73feea47b6094750efca78ea7ad28586
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aebd9b3e0c8d59cd2fca929d21b65f32364c61d3d64d7ec32cc7753119b8473
+size 15044517
diff --git a/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a0d6d8ddc18132549b7d05ae50de7c873347dc1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d2d0bdcf1588dd90bd89bfa274f9ae77230cd651cff6ff7d7976dd8c1ca8f4
+size 15216665
diff --git a/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8452017f15144e05753eded9125aab04caaf756
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070133/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc6759110e7779596af084939cb5cf5a4ec2f2ae1ddb5e900213f0202d6b57e
+size 798537
diff --git a/TASK02_A210041B900443_20260723_070158/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070158/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e25f754815c19de224b21e1dc4f2b183a5b8369d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9519830b7be86d549bce2f651fa8477c8bfbe0297ea0fa9a1a43f83119eea2d9
+size 397794
diff --git a/TASK02_A210041B900443_20260723_070158/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070158/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e34705e1d0c8548b404bf8db43cb9601955f129
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 1081, "chunk_index": 0, "length": 1082}
diff --git a/TASK02_A210041B900443_20260723_070158/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070158/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab972ec32b9da031239db12bfab4c207baf15190
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 1081, "num_frames": 1082, "num_steps": 1081, "num_samples": 1082, "duration_s": 36.05900597572327, "fps": 30.00637346266441, "start_timestamp": 0.0, "end_timestamp": 36.05900597572327, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070158/meta/info.json b/TASK02_A210041B900443_20260723_070158/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d256b36044a2c439e70064a49d310a71ec4e2ea1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 1082,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070158/meta/task_info.json b/TASK02_A210041B900443_20260723_070158/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..162b2efce05d7101fd1c7b0f7bc646ba402dce31
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1966",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.424174",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070158/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070158/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bef4e0447c13034cd949a7e2105ec667b32065bd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f52007222e226f700953cf986e1f29533e5950298807982d995e59310e340fe
+size 22493516
diff --git a/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b09d58de6aa241b517a0d610ebf7a3235d6ce3fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4809563daded1389031a64d1350b9ccd39bacf9a98315838c548a84982cfb6a3
+size 3846834
diff --git a/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f6d4018bef9f9e75bfb7e12fb6aa148ddcc68d9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9399225c708d061ed6da6a9430996f61a93d0eb16cd3efe39f07a188659ba0
+size 33991827
diff --git a/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e09241475d250694f6aed887f5aa79d6cb0fe335
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c2d1783075a3912b5c2e973630012ede8f408a353f9127ac9899d41645f261
+size 31022576
diff --git a/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86c226383012ac45548d892f13d62765e78055e1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070158/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5890f31f352b4f6d5c9073df23813022aae1dd3d223c829a7f8e3f94d65c671d
+size 1122913
diff --git a/TASK02_A210041B900443_20260723_070415/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070415/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6efc76deee2882d208638d1ad75d50ad70393a74
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062c1b8f9d3b81252c2d50a61d92a8d05d46864a4d80b2574b6c29b452296be5
+size 315421
diff --git a/TASK02_A210041B900443_20260723_070415/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070415/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8d3f1bc1936b61bdd4d1a6731afbf2fdb9277
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 608, "chunk_index": 0, "length": 609}
diff --git a/TASK02_A210041B900443_20260723_070415/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070415/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eae772d89b6d3d4be85fb787fab78678408e9780
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 608, "num_frames": 609, "num_steps": 608, "num_samples": 609, "duration_s": 20.285835027694702, "fps": 30.020948073795275, "start_timestamp": 0.0, "end_timestamp": 20.285835027694702, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070415/meta/info.json b/TASK02_A210041B900443_20260723_070415/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..98874879f240cb9e6511b3076bb3553ae934b1e6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 609,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070415/meta/task_info.json b/TASK02_A210041B900443_20260723_070415/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb0288eae773432cd8438e705a82f51bdca3de0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1967",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.250196",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070415/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070415/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..714e19f9c081ab094695f7279013079f76ce1364
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d8d57a81bb0ecc6aa658453f9704a1be52a46e37823f9958ef44532b425aec
+size 10410164
diff --git a/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..187596261b124dd4d9461a4bdb4e2636a7a47100
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2997e5ed569bf8226f64e8013b44f62c002e6eab864cde0f435a7ed9672f345a
+size 4112035
diff --git a/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cdd825c10de29134163a44f11167061b6b3e0e4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620fc23d02b49be397518491e2921682ff5e8518252f0e989986ae51540a0885
+size 16588452
diff --git a/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cee1be51ea81e3b94c16e3e78964ffbe5200d24e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3911d807d55f8290b866efad3a1564c8d084b2c3d3ecb428be8370b1083a06b
+size 15783888
diff --git a/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..285aa1cc5472cf1eec11ff4e09211816a25e77e5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070415/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbf44ec6a3c4bb5c303248148ea01851ab840b73d90281d3f719fee4fa42f60
+size 1192984
diff --git a/TASK02_A210041B900443_20260723_070600/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070600/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3dc48fa34807855a692140e7e00307814db1b05a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fce5477d3462fc7b2d069b2371dcfcd92fe1b4ba61631dd3b2301d115f52f7c
+size 286021
diff --git a/TASK02_A210041B900443_20260723_070600/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070600/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6213ef6c356f9fc572c19f8b58d5fe1422ffe5e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 529, "chunk_index": 0, "length": 530}
diff --git a/TASK02_A210041B900443_20260723_070600/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070600/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a3d415a6b7b0b49c2fe1747795887ffabfc72987
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 529, "num_frames": 530, "num_steps": 529, "num_samples": 530, "duration_s": 17.64393901824951, "fps": 30.038643834112634, "start_timestamp": 0.0, "end_timestamp": 17.64393901824951, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070600/meta/info.json b/TASK02_A210041B900443_20260723_070600/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..758b3634c12e7029ce10227e37b531a2a1ec9375
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 530,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070600/meta/task_info.json b/TASK02_A210041B900443_20260723_070600/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b75400f4554d554b8a59a70a4e1ebc39c26aa5a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1968",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:25.007643",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070600/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070600/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f66b3cf38a12cffe2c61f30e73760cb9c770b6a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e46c23f6bcfec2628aa8a28edf27ae9af8758b806b646687e6d2965b40a09e
+size 9216377
diff --git a/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9a3e69b8add99c5754bedaef87158c182b8cd7a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7172dadab18ee0774f8c6218ebb17f1cd2848d2007497cb40475a99702db3064
+size 3457721
diff --git a/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6bb42a8c99f27bf1427a1d9686397a8019ab6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d34311297f674410b697e5be1d90cf125738ea46733b964a3f6dda7438f7c4a3
+size 14252902
diff --git a/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a2bf9bff2b4ccd0bb6946742567d2323b06f306
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f27ac25b7f5bdef8677034767873117105335cdf39029ea5bd3533e81858a91
+size 12853397
diff --git a/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5dfb3c412bfba5981babd2256aad20cb5281ef8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070600/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3543db43157cbf0454acd0b5f8cb8f06e8759d3823bc270bbea926661c85821
+size 948890
diff --git a/TASK02_A210041B900443_20260723_070621/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070621/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a1f314dda89ee3e506ecb5ef6809748bab9a96c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4f3a5956f30ab473d820ebf177e15ca116f6c8eeb259517b495ab6d7786fa0
+size 269217
diff --git a/TASK02_A210041B900443_20260723_070621/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070621/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..853bd75e9ed35691bf14c78c47ae6fd6c27bb922
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 501, "chunk_index": 0, "length": 502}
diff --git a/TASK02_A210041B900443_20260723_070621/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070621/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83eac3fbf122190ce9f83ec2e0f286b3afed35a3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 501, "num_frames": 502, "num_steps": 501, "num_samples": 502, "duration_s": 16.73146152496338, "fps": 30.003356207167847, "start_timestamp": 0.0, "end_timestamp": 16.73146152496338, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070621/meta/info.json b/TASK02_A210041B900443_20260723_070621/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0275d16785944ad403c61a11ecca86a81bce05b4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 502,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070621/meta/task_info.json b/TASK02_A210041B900443_20260723_070621/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d8ad5e37131214e70b8f28e6a46f32a881a542
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1969",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:24.838697",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070621/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070621/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3974a5149388da5d1adc696efead0de0fa299bcd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4455355a7578a69f26649c35c8ad04d093374bbffbc446eb839b9bd28f7af504
+size 8368154
diff --git a/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27bc70db26ae51a93ba02b313f944f18e5804850
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ef3ebef037f24f159561297d5cbba8cb346ecb75a99434684b6febd402c60f
+size 3153529
diff --git a/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb9eea36a5ebd84eb982d813c7f6c5c1cfa0aa27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:889e103a43b70cd51a81b6c60c3f149e8cf9fc93bad5dc7d4b8eea92a735e7ce
+size 12951387
diff --git a/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6f96ff06e9a35d630d69fbe35be08eee5aba7f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94221591eca91b94074ffff93bc38db10a0e4c5587bb27346ff3f782b82b6fad
+size 12126929
diff --git a/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..015daac82d8e045940a9fc800bff1f1ba0df16d5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070621/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c0f385c1ef52a11e4485eb9041400d517cde9f1e953c1f944bb47ab7c13974
+size 774670
diff --git a/TASK02_A210041B900443_20260723_070641/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070641/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..81be558863a75dfd3a4c317e05ba50b6cc28b82b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4281f61dd0ce6c84c7820a8611b523659956ee676272595e5f396f3ba1482e7e
+size 262978
diff --git a/TASK02_A210041B900443_20260723_070641/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070641/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c675aea30752316d5685efe4b680c4fc783b3df5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 483, "chunk_index": 0, "length": 484}
diff --git a/TASK02_A210041B900443_20260723_070641/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070641/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49a70a70a7398a63a1247a2aefb323e6a3b7eb7e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 483, "num_frames": 484, "num_steps": 483, "num_samples": 484, "duration_s": 16.12855315208435, "fps": 30.008891401238365, "start_timestamp": 0.0, "end_timestamp": 16.12855315208435, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070641/meta/info.json b/TASK02_A210041B900443_20260723_070641/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ad1d91ecd2e0614c2e8940072e51c10a35e61b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 484,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070641/meta/task_info.json b/TASK02_A210041B900443_20260723_070641/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cc23f953963e3bd554ae6aa7d018dab3574546c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1970",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:24.695807",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070641/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070641/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdb9f7b6e9a60ed2a2f7b31c2ea44ea7fdcc567f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd921a883dc2c63d9f3353045098e723cfda6addaa8bbac19987d62527c5ca9
+size 8471937
diff --git a/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6b9efaa12c77d16c28b3bee938094b3e352ce64
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:855f8399776027b140ff1f5cad5b7ea07a076776b7fc246dd8b44f8612b2858e
+size 3410921
diff --git a/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd2dacbcbd497318b1ae24a23fcb6b2e0d96280b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b378b9c7d377a2a1c5e124c930fefb5836129ba2ec0e55a31c7af211a100f2c
+size 13794503
diff --git a/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83409fb2a144c27444074110c10fa208b98b845c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0d82bc029f73e303a9e236af21f6df1e778618f57ee5200ef615995fb350fc
+size 12588947
diff --git a/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4509c8630e29dc176a8d6ea1a74e0080d4b7bb1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070641/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8edd171f7a036a6f2c38dcefaa2446236857c2feea46bac7896387cd18f252b
+size 946363
diff --git a/TASK02_A210041B900443_20260723_070820/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070820/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2ec6296e6db408be8eb29021e195c51fd46b6f64
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e98048b1c5f20dbd57e6f388f4d5f4cb3206c9d47eb560f7c88ba1fd9deed40
+size 296840
diff --git a/TASK02_A210041B900443_20260723_070820/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070820/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ce13318b44269c942192cbed4952dbb66486305
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 549, "chunk_index": 0, "length": 550}
diff --git a/TASK02_A210041B900443_20260723_070820/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070820/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2796e4ee8e2d23592d80460799dc3a302e4db21c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 549, "num_frames": 550, "num_steps": 549, "num_samples": 550, "duration_s": 18.30936336517334, "fps": 30.03927493438508, "start_timestamp": 0.0, "end_timestamp": 18.30936336517334, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070820/meta/info.json b/TASK02_A210041B900443_20260723_070820/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f1cc0a4f8054de7c64204b05dfaa8dd4891d688
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 550,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070820/meta/task_info.json b/TASK02_A210041B900443_20260723_070820/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba587e88ceb67926f418bba3f0eb91fcbde4c9a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1971",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:24.514454",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070820/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070820/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4730e1258560a93c27d357005700cdb2a05c09b7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab66e7e76433dcc0f1ee78fbbf8e6d1d7c62549398409e36be23f98e629c6587
+size 8995357
diff --git a/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b226c1965288554c012c9d425329a985d9446c5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f895d2c00993e15b26d444b6ea994ce3bc77daa88429f17c0dddbc652c3da2
+size 3234912
diff --git a/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b59ac39379cc6fa909c6f2df4a43b3bf78f465a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d92b1ddcd154c797dad7781b88c6821210f5590cec5a6968a50d7b8b6a781efa
+size 14990314
diff --git a/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f024387bc3a329633de005f3963a3a812258528f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70c4ec1436187914b78fe4824afb8fd8d35d809fb32603b02bd97ac38896dd1
+size 12383956
diff --git a/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..982f8ec38ed571a3efcdf3194c44ccf5dc802e0a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070820/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fa58e2f4a2d9c97d8be6ca17038a7c0729a69efe3e22b2e7fe91dc9d997aee
+size 864476
diff --git a/TASK02_A210041B900443_20260723_070842/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070842/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e93fa5c0faa08854dff9cf13d57cb54bd96044f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80a4b1118fe518fa735c9bd8dc4741b9ead14eaf2d5348a5190a698850cba3f
+size 307130
diff --git a/TASK02_A210041B900443_20260723_070842/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070842/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f31af993d4b6beb769977c84f1311d45ce93821c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 592, "chunk_index": 0, "length": 593}
diff --git a/TASK02_A210041B900443_20260723_070842/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070842/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a2fb56ee7d3b252e49dcf8e17a37aaa8d3a07a7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 592, "num_frames": 593, "num_steps": 592, "num_samples": 593, "duration_s": 19.73687744140625, "fps": 30.045279541328945, "start_timestamp": 0.0, "end_timestamp": 19.73687744140625, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070842/meta/info.json b/TASK02_A210041B900443_20260723_070842/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b3cf563a43277c2a0af7d9717fd049cd174b91
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 593,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070842/meta/task_info.json b/TASK02_A210041B900443_20260723_070842/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0462cc1b22116c9df9cc2e3211242e5f97d0dee7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1972",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:24.285635",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070842/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070842/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1fa573c7931694b5eff85a71c948c2b3e5156fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1de17f5e6d6a57883c6e72d82f448b4f22feae14b4119f69dda83f0b1233cf
+size 9459470
diff --git a/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cad7ecc008e24bc606e7f76fdd7290c3cf429840
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c22bee4dedb455669f01f650262caaf6ab11215facc9c95a812086f86d5d6a
+size 3927443
diff --git a/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05276fffb20b579aa11902a3080c7a98d1750781
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d196beed0451cdd76e184c9886e125f07a4a09a83344bb99c94ee43f93f8b3
+size 15873883
diff --git a/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..591b0e98e773618f46f0e79c519c54a3bed3cf4c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5efbb4a81a62438bcf32e8e03af4c235030e8e3a54e35de7eba128f51c398e43
+size 14574932
diff --git a/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4097119bb3fd82bbf15099e65a1f0541063e35ed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070842/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:265f3dbd8a9b356b5266e03a612724c33137ecf5cff46411001ba489298089be
+size 1051577
diff --git a/TASK02_A210041B900443_20260723_070904/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070904/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2edc7cd6b2376f3162307dd6af465b53655fc9c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5272cc1a0f50faa8816c20e2897fe79fb9bff1dd03f8ac93c4ef7bf9e44e1796
+size 300606
diff --git a/TASK02_A210041B900443_20260723_070904/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070904/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2caa89144fab6757368edea514644727541b936
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 568, "chunk_index": 0, "length": 569}
diff --git a/TASK02_A210041B900443_20260723_070904/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070904/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e51e4c7b01e216006e6267e89cbb70364f50d313
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 568, "num_frames": 569, "num_steps": 568, "num_samples": 569, "duration_s": 18.94830346107483, "fps": 30.029073640755588, "start_timestamp": 0.0, "end_timestamp": 18.94830346107483, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070904/meta/info.json b/TASK02_A210041B900443_20260723_070904/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..76e221fdbbc6355763a2174ef5f2f4de6823ed3e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 569,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070904/meta/task_info.json b/TASK02_A210041B900443_20260723_070904/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef853c636e3091f7518d14ec0557409b7d146932
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1973",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:24.078522",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070904/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070904/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..900d7ee68faa2b09a0a9d385195b62eae7ff277e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aeeb372d1540f5911aa315b37aa732588a89bd301cf526b9448094e83f8ef04
+size 10822861
diff --git a/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1590d2a1f7f63c03a75bcb8ff9b8f13c62c8b63c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01bd2fd4773c8016a553e325438d9dcd1d89a82719a8aa1bcbce562f2140e26
+size 2923844
diff --git a/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b095bd8d53ea25a0fae5d5ef3b40d813b49848fc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f458fc9af1977fb4f28ca6dd62dc016ebfacdf0ed5d7754b49ca9313cfd11fd6
+size 17189187
diff --git a/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..505a638a077219694e853513d2e56da8785bc30f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1921c4896767dcea310a77195ee7b726e05454abdac9ff09bbf9456fa1fdc013
+size 13582730
diff --git a/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91f1883ecf35e333c9807166f5fb7e0fbb3e0ca6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070904/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7a3be05b9ccdc7e1a57931e510ca558c3140e611d87fc93c79065a61d5dc98
+size 846400
diff --git a/TASK02_A210041B900443_20260723_070928/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070928/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..47507bf434a88b46329ff616bdaf5c3ffcfca7c3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4cdaabb41300f9672c6501bc481df62ca54eb94c2dd7f45e59b9005ff3266a
+size 258513
diff --git a/TASK02_A210041B900443_20260723_070928/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070928/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73371d4c97affc81523009cf08cae9c13f1c81ea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 466, "chunk_index": 0, "length": 467}
diff --git a/TASK02_A210041B900443_20260723_070928/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070928/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13c29858b3cde69ca74e8fc5c123ecbfc93cdd42
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 466, "num_frames": 467, "num_steps": 466, "num_samples": 467, "duration_s": 15.556078433990479, "fps": 30.020419476645962, "start_timestamp": 0.0, "end_timestamp": 15.556078433990479, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070928/meta/info.json b/TASK02_A210041B900443_20260723_070928/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4275999c846bb6dc30d28a3da3e15e7112d403b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 467,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070928/meta/task_info.json b/TASK02_A210041B900443_20260723_070928/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ac43810e60387bb181ecfbf7274ac9e58248b02
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1974",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:23.910726",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070928/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070928/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..890fcd5febc875412a2ec52ac2d5e6a04f2fd9bb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09be6f1289c7fe0c6a9aab288a22d572ae116ac96484548a45e67962151cd07
+size 9055230
diff --git a/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35d51ff5aeca9ff5076de1648f362c069fa60c05
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa7e29fe46cb9490b49a7ad9266882aece457ae8e13473fada93210a8c5c7c6
+size 1724876
diff --git a/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93f73eae1a6aca65d148aed784758b9761187743
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009990c9f84f25e8f5aeb48f8a572edd3651e8721732ade526c98a3fd3a3f9e1
+size 15089931
diff --git a/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0754c7b9628cc599f2f8fd6e44114c055337a755
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed829cccd0decb83c34c451b0e407ada215506eb9b49f0c095b9aa40598274a4
+size 11683235
diff --git a/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af8e97ae93299611f6110ca3e914433dd09ebbfa
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070928/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8e873a5e34d2aba405827417494bd36506e841eacf87e77720343faf4cd652
+size 567292
diff --git a/TASK02_A210041B900443_20260723_070948/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_070948/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..26b94ed59e89bb8e916cd1e39a8745dbe9bdeffb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2084169e9809f0b704e30e935f6dbbd9c823d69fd8a5a809f156b5568b952d0e
+size 285506
diff --git a/TASK02_A210041B900443_20260723_070948/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_070948/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56450f5be53e568039745972b77a2325934d1931
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 543, "chunk_index": 0, "length": 544}
diff --git a/TASK02_A210041B900443_20260723_070948/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_070948/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38e64abfa3ca7735f5a87f5ee90957df9b7effe0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 543, "num_frames": 544, "num_steps": 543, "num_samples": 544, "duration_s": 18.11486005783081, "fps": 30.03059357142735, "start_timestamp": 0.0, "end_timestamp": 18.11486005783081, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_070948/meta/info.json b/TASK02_A210041B900443_20260723_070948/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..89cddfadd823c3fa1657bf0df5e53a089c1ba304
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 544,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_070948/meta/task_info.json b/TASK02_A210041B900443_20260723_070948/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..648c96d52d7d68b0e1f142e662b457025d051f51
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1975",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:23.720710",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_070948/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_070948/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20327397eca4a1daf975268b453ad97765c8a18a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a1f9d4535c71843947069131f9f19344482a374f68de69da37db1fba129201
+size 9618536
diff --git a/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..406651b6a6867150d309753e800ffebad983a200
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f3f873b6aec0749192042c149f73d7602b6e2144b46474cdcb64312849c90e
+size 1942878
diff --git a/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3c2c88878cb7c139f661c2e4600d644289db97a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c0ecef4664aa9629c67979fe213c4c1ed6d4a92bbf6a0a7f06f411d79245c21
+size 16279873
diff --git a/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..028daed9f55345e7c4e7f7dbb25026bce1e49bcd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc0029f7eb5868b8fe695b399f6f7bcbca22142d8d70ce17ab41d550f0e07a9
+size 12725298
diff --git a/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..749e4622cc03ece595d5ec82b50f99acbc99d32d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_070948/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc2d921dde6cf5d0718a6f36eca51df1417757abb4e721d5ba031dcc1b302b2
+size 631254
diff --git a/TASK02_A210041B900443_20260723_071132/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071132/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..38bfe6f687dda3c0c4f9c28f84c4834c308ef3ef
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658fa241423d67f14b932fff67f0a6ca5531a36ca7a3b1989369b492563a563c
+size 386796
diff --git a/TASK02_A210041B900443_20260723_071132/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071132/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1009ddb02bc80baed955fd9face6a2b79d8adf65
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 757, "chunk_index": 0, "length": 758}
diff --git a/TASK02_A210041B900443_20260723_071132/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071132/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd6b1233d6a080f2640a56baa9b42a4ec89b6fd1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 757, "num_frames": 758, "num_steps": 757, "num_samples": 758, "duration_s": 25.25188899040222, "fps": 30.017556321750895, "start_timestamp": 0.0, "end_timestamp": 25.25188899040222, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071132/meta/info.json b/TASK02_A210041B900443_20260723_071132/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ace8792d9de3088a0b50054eb8cd328a9122bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 758,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071132/meta/task_info.json b/TASK02_A210041B900443_20260723_071132/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6bb26ffee455f2be86ae2e47103c79f3d517e15
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1976",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:23.453929",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071132/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071132/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7365c70fb99fb3d568aa1d4bcbda1085b1ba39a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c0a48ff067c3df7f2d471bb7b717735304984cd754d653bf17f05201ae7b82
+size 14273354
diff --git a/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d859be77b4efe916ea3eb24bd1fd61c195b4cdc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eaa69cee371dbe481fec8f5c78f8e61b3db9d29ea0a11e4bd47c4dea80b6797
+size 4970511
diff --git a/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..999a56d4175383c30671154e334015618d44685f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2322f8670f34173849010f3e340ebff17bcce41f9fcb424b4e729f65f3219873
+size 22057573
diff --git a/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dae39634a13c78c5e5cd4a01c58a1ff9e1b7a7bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438f2024de0f8791caa981cc02897ce59b287c381c93b3a42cbd71505af7d42f
+size 17726421
diff --git a/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c04f6ef7b9b68b85b54f834d21656457429988d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071132/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf50ed2964dd435d448c86ac1fc1d27b029d62078df5cad14664fa75ae0c280
+size 1339589
diff --git a/TASK02_A210041B900443_20260723_071202/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071202/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab6a2720ac93e10c4e854048b2ecb446f13c289d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1ecd9838e5f9f780a078e471c9d0b06ec1f569f5f2c1a3cdcd4400c2c9d9f4
+size 281763
diff --git a/TASK02_A210041B900443_20260723_071202/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071202/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..974d6035b299062c261a325b691603098d943d95
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 539, "chunk_index": 0, "length": 540}
diff --git a/TASK02_A210041B900443_20260723_071202/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071202/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22fa038ca15d01b51faa05a4e0a4a69715fe9154
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 539, "num_frames": 540, "num_steps": 539, "num_samples": 540, "duration_s": 17.975730657577515, "fps": 30.040503514796917, "start_timestamp": 0.0, "end_timestamp": 17.975730657577515, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071202/meta/info.json b/TASK02_A210041B900443_20260723_071202/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4b5c83ad73629f8a4d65b19eeb5e0ea93c9334
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 540,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071202/meta/task_info.json b/TASK02_A210041B900443_20260723_071202/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0625bcfef4b6cb7367bd55caaef65fae9039a0d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1977",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:23.268861",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071202/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071202/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7d9a85d8878ec44a456bcac5319282ddfed1923
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:573c630f6e0ea1e09db3bf22727b89e7209b1f208ce1d0b1224a27fd36660eda
+size 8713710
diff --git a/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2792382f21a9d5b951665c321d8d573eac1bfecc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d8807133dcca83048baadbe6568a299ff792444d18d62056c94878827e345b
+size 3053592
diff --git a/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e935b95ea129d3b54ad666a67f2ad3efbb4f6670
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9958abe50f249cb4cfdf3471879752ed82ab295a7be886c97a16ec388e27d687
+size 15379803
diff --git a/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e8cfded24038fe8c8090341506eb8c27f2d6d38
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753e44125249ac04c73be1c1288ef28ba9fc39166407b34767c421c515319086
+size 13071501
diff --git a/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..510c7937bab99c2c021f48fab38075502cf84023
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071202/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e48780bd68e3e968751ef893e2356ccd0ca5a2f05760501619ed6c0bc05c0e
+size 923079
diff --git a/TASK02_A210041B900443_20260723_071225/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071225/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c9fb729306c7c375d835ee614fba2aafaa584f8f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df84b4dfceab122fbdee644bf6a42f0228447f90f5f663a8307829a26ea1ff5
+size 274621
diff --git a/TASK02_A210041B900443_20260723_071225/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071225/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a6235c6b164faec4ce0092d58aba17f6aa47a37
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 517, "chunk_index": 0, "length": 518}
diff --git a/TASK02_A210041B900443_20260723_071225/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071225/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e68777361900302ea2d1a148815925fe41bf7b0e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 517, "num_frames": 518, "num_steps": 517, "num_samples": 518, "duration_s": 17.25318694114685, "fps": 30.02343867060468, "start_timestamp": 0.0, "end_timestamp": 17.25318694114685, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071225/meta/info.json b/TASK02_A210041B900443_20260723_071225/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7eea9c5bf324e5838ccafa2fa6613f424b6e841
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 518,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071225/meta/task_info.json b/TASK02_A210041B900443_20260723_071225/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..870ffecfb0115fa98e934f788ef99259147ebaab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1978",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:23.037290",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071225/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071225/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0887dc11a4a9e5b1f379ca63e104892cf423db65
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87f6d9be4a7a30bfda25a88fa51cc9178f3bfcc3a5135160fed25630777c165a
+size 9977847
diff --git a/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fafcfc4aeeae6e084bab8bdb7454b96e60f088e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e4dd9c0895b6aa2cbff2eec694eba8dcf5cfd3be2cc2035c98a8f70461c414
+size 2491608
diff --git a/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8587a62439b0db524037d495854b8387ee94ab6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4f00db472794af7ed26aa5ca7792e300107907441e80799d372c61dc869e63
+size 17238748
diff --git a/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb01ffea5bb7ac4e9e82a4ae985e5b6b5e9ddf2f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78ccac81d07a42bd52e357955bfbc9628094090d0e4df57e361e2addd9f52750
+size 13521478
diff --git a/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2be154dca20ffb8c27654540d8940bf54bc55e77
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071225/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efdf1fb1752a1fe89b6a1c32d358e6757361552948081de2146770b18fa65ceb
+size 880439
diff --git a/TASK02_A210041B900443_20260723_071247/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071247/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..84c97936153976941430ad62ab69994fc8a383f0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145a8a33164860b5cf1aaa1a4228e36e1d356c9db9def9da84e6e5630e8574d3
+size 288598
diff --git a/TASK02_A210041B900443_20260723_071247/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071247/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..149b392598c228f6f5112f87846d8769a7ec14b9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 534, "chunk_index": 0, "length": 535}
diff --git a/TASK02_A210041B900443_20260723_071247/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071247/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0065e8808c8115eb24b8b83608264a1db89b75d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 534, "num_frames": 535, "num_steps": 534, "num_samples": 535, "duration_s": 17.82460641860962, "fps": 30.01468797882898, "start_timestamp": 0.0, "end_timestamp": 17.82460641860962, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071247/meta/info.json b/TASK02_A210041B900443_20260723_071247/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..428eb02deb00f87c86f3d36141f40110945a1012
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 535,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071247/meta/task_info.json b/TASK02_A210041B900443_20260723_071247/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1586e82f5780b16569fc4df894794f2e6f1d760
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1979",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:22.918595",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071247/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071247/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fa96c54dcf0ac91caf42ec370a300a45db59363
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb053e7d3dd999e27fac45d99b89b6cbe4227d0fcfb7649f1786219642d9bf87
+size 9451649
diff --git a/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7c82d2347169fce81996df8991d3c49e879073c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be78f324b1a633d1c28d7c7906929439b61431f2f6e46694d26bb7b0fa662d21
+size 3095117
diff --git a/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5a5e3357bb0e8d17c5c9784dacb68816132d624
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9030980356dc28d7158b206ad349cd18c629463883c158e1a5ea74784e88d45
+size 17855880
diff --git a/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91322e78aa3a0e1baed7deadfea7c68681748676
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229744a0cc1244d2078796fa7bd60ed21ada2bd77e19dbe2fe45fa340dce94ca
+size 13668082
diff --git a/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..461146a9af356d871b7dc0dc51b23842d9d65ed1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071247/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd4bd7e7d5316a17916aca9bbf0e1dfb0e22477db7d1c5514f4b37291a9891d
+size 1033860
diff --git a/TASK02_A210041B900443_20260723_071310/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071310/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dd3dc7e7f2e5d26d31ba36790d1ba8b099596a51
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf016faee0d093ca9510695c31831f957df1881909655c42a19d9bd034313efc
+size 252347
diff --git a/TASK02_A210041B900443_20260723_071310/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071310/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..834006a5c67f27a8dd8c80852028ccd6dd9c621d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 462, "chunk_index": 0, "length": 463}
diff --git a/TASK02_A210041B900443_20260723_071310/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071310/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ddd9ce6034afdba478f0efd923cab0321fe7919
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 462, "num_frames": 463, "num_steps": 462, "num_samples": 463, "duration_s": 15.421327590942383, "fps": 30.023355464670892, "start_timestamp": 0.0, "end_timestamp": 15.421327590942383, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071310/meta/info.json b/TASK02_A210041B900443_20260723_071310/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..809a223382b82fc6f4c2a4f23facfdf68ae19e3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 463,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071310/meta/task_info.json b/TASK02_A210041B900443_20260723_071310/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..887d180569e7712c11e528fd49e4271fac0f1305
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1980",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:22.770850",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071310/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071310/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0081fe5e71f18e6cb95b39e84e7dca8d402b00f8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7a86fe4cb95bc447c9a9c565e261584639b7c9a62ed28d582e41aabf228b46
+size 6712388
diff --git a/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..247a6b716b0f380b87a0d6c2a99b6978cdbbc0c4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8b153a9c5085d853a53a5dbe35b9b8efbc5f8855883254a65babc98d827625
+size 2133649
diff --git a/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c45dc313f9482d3ec07d91e4f78ae4ea636b2ad
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7358fdc0d782fbe35a1de61686c8cafb6a9de15857a43733bd9e7c720d2847a3
+size 12984872
diff --git a/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfe0d3e4657442c51829ae8ece2cccf3c0698ca1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ee953395b4365b6392328ff41930d376fd45d86bbe415952fda91805c4c791
+size 11221478
diff --git a/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f0c444c862cd751f9139c7a267f9794e58c94da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071310/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ebb627a0401bca4dccb50b2d379196a23b48933f9b50b2e42a404f4e24e6188
+size 742589
diff --git a/TASK02_A210041B900443_20260723_071329/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071329/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4ce439ae34814c764a788c5f6ec7a01d0632f10d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e45390faa58b676c4e8b664995d18021357a0461d659a918a6c1385086bb4a
+size 239993
diff --git a/TASK02_A210041B900443_20260723_071329/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071329/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5174f01e20a328906f67762c03d4714126175e5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 436, "chunk_index": 0, "length": 437}
diff --git a/TASK02_A210041B900443_20260723_071329/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071329/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..324f5d9309e1615845e982a27a84af75b861fe3e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 436, "num_frames": 437, "num_steps": 436, "num_samples": 437, "duration_s": 14.562653064727783, "fps": 30.008268277602394, "start_timestamp": 0.0, "end_timestamp": 14.562653064727783, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071329/meta/info.json b/TASK02_A210041B900443_20260723_071329/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e82b7792a441705a67e28cb3653676c96f2d846
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 437,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071329/meta/task_info.json b/TASK02_A210041B900443_20260723_071329/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7c8e7a9fd10c4f4a6f0734804f57f19ba171e7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1981",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:22.449999",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071329/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071329/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccc293f6faaa9ebeaae6c44a26babc5ae153105a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ab9e87c3c1d51a5713094d0149d793769dbcc07c4c595c166cd336cb2a67cb
+size 7820438
diff --git a/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..626a893eef830eca171a14ee927ce1cd800f9d3d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de77b5396eae3535f200f44cc800db4790d9ffd3d90cf9d8b40ccc473607c99
+size 1746715
diff --git a/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d69ae5d729e5bf48a0b380f8b5e072196fdf7007
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34017e7fe0374b7d20569898bda66a845043c0b6bba3ccc4521651538d001948
+size 14968491
diff --git a/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d81a07e5944de223779b337ee8c65a6043f35cb
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8dbb1f3e8cc70f6e542ea54276037cbd4692561805eeb117887f80f28db871
+size 11844362
diff --git a/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..265b158cece33816ff09db4d2cb4e081e396f52c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071329/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b11ef4b4eea34cb0c1d36740226e71b60484b65b287eabc34178662a13089a27
+size 678834
diff --git a/TASK02_A210041B900443_20260723_071457/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071457/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4961bf8265b79d2cedc98ae2db9c5a269271cf1d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2254ebd4a089bcdcff8854b8bd35383fad49727c6dadc9f9bde52ab7dd1b70
+size 323738
diff --git a/TASK02_A210041B900443_20260723_071457/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071457/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f8042e1f4d92a0f255752853f80d943e1dc03df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 614, "chunk_index": 0, "length": 615}
diff --git a/TASK02_A210041B900443_20260723_071457/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071457/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab74cfecc0ae681b961be67f4de19922ba3065
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 614, "num_frames": 615, "num_steps": 614, "num_samples": 615, "duration_s": 20.477962493896484, "fps": 30.03228471501022, "start_timestamp": 0.0, "end_timestamp": 20.477962493896484, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071457/meta/info.json b/TASK02_A210041B900443_20260723_071457/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e737364ea41db7e4ddf9c1f6859287d5d3e0d77e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 615,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071457/meta/task_info.json b/TASK02_A210041B900443_20260723_071457/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..32e984f834683a787d7727994c1b3daa1d8d2934
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1982",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:22.027036",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071457/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071457/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..935a9f093ffcb5e431c686e2dbc3eb0fbbb39d85
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11db535f51a6312514befdd252698e48d6fa6f83530d5486ddba74aee3cfa7a3
+size 11045086
diff --git a/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b375fc8874a5d9c0367b6644d25bc8136338e177
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd6202701ca7527a83b117b1df885f06d592cb83f13fc1f28fec5f3cb20c4120
+size 3327275
diff --git a/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddb2b306ac40dd14c75c3ad8b4feafde0744c465
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f75da4a952a8b034360f5252c82c14859352d12a77fa64bd094706e4865c4c
+size 18269815
diff --git a/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eee4fcf6560bbd6d7fa0616afd32dd34f3b58a36
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97fc8e8af543fca7acbc21397f53a55d9dfdfa0684964f69a139cdac82dd1f0
+size 15128878
diff --git a/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b96a6162b048d3f3e90b192bd189f6862336062d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071457/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d932e5a9d6c9d5d464404cc1363c6df8ac97bc21d5cda57d19e75e20f534d478
+size 1005332
diff --git a/TASK02_A210041B900443_20260723_071522/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071522/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3dffc81e1aa68f81814a8fdbcc46c6871031b9fe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d011c27f0af391c43fb04d65f6d5cef28e2642a503f7053a4ede1887b94f25
+size 539406
diff --git a/TASK02_A210041B900443_20260723_071522/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071522/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7503117d5ef812d794ac47bcac3fd8db6ea0b058
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 1038, "chunk_index": 0, "length": 1039}
diff --git a/TASK02_A210041B900443_20260723_071522/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071522/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..066732d3360ab5d5d4b617450c98768b394538bd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 1038, "num_frames": 1039, "num_steps": 1038, "num_samples": 1039, "duration_s": 34.622512340545654, "fps": 30.00937626306368, "start_timestamp": 0.0, "end_timestamp": 34.622512340545654, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071522/meta/info.json b/TASK02_A210041B900443_20260723_071522/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5558fee6c5fe08651ded0fd7a555c320c769ba8b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 1039,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071522/meta/task_info.json b/TASK02_A210041B900443_20260723_071522/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1d3153454feed5adbbe98cbe9597a96a4fd8e1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1983",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:21.855153",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071522/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071522/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9388d161a84005435ed87235097edf2993bd008e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b88a9e3625198abaa14814fde71e3df2b262f2124f67ad3b9a7532e2128ae1
+size 19323053
diff --git a/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a66796a33fa09d620594b8164164b919053a02
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28df43b81e8d95eeff080e4875b37cb36e500ae73fd92086e3463d8c85c1ca0
+size 6026838
diff --git a/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0e7df8d5b3d7ff8747c5724f66bf6b1e9afe5e3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7029f3278e7464712d7f56c4b917ca97e3bbceeaaf2c3e5bb816ce8ffa8d7f4b
+size 30955240
diff --git a/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eef19cee5d45ab352bf42c6951f370f0e1f5deda
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:774f6cec55f490d65fe94cfbfc86e6bd8f75ec4637b05dd1f7e5b78e7a7dbc93
+size 26062215
diff --git a/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a8d5722089a019ce5a5aec6d3822bae32c94169
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071522/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fa3db5e98ece854d2356e6af58e3b59ec91c834c11c14f554a1f679ed3fec4
+size 1841196
diff --git a/TASK02_A210041B900443_20260723_071615/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071615/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bff54e8a1a6dde1564a9e5e41c2a3cddbf6545c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195d646f663e57c1f2d21577bd7bf8f7e43dfffa32db4e927acd6cedf4b81bd9
+size 222147
diff --git a/TASK02_A210041B900443_20260723_071615/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071615/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c675d1ae5bbbb752ff2e8d7cddcb844e8394c4d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 403, "chunk_index": 0, "length": 404}
diff --git a/TASK02_A210041B900443_20260723_071615/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071615/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec1da1116eb7540ba84f13493d2c6aa66d216a95
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 403, "num_frames": 404, "num_steps": 403, "num_samples": 404, "duration_s": 13.450737476348877, "fps": 30.03552784450473, "start_timestamp": 0.0, "end_timestamp": 13.450737476348877, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071615/meta/info.json b/TASK02_A210041B900443_20260723_071615/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ebb483c07d9c17d9fc79a7eec2e8cca45702a57
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 404,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071615/meta/task_info.json b/TASK02_A210041B900443_20260723_071615/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0adf89362ea8f13857056a9326a3f11e249282
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1984",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:21.691930",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071615/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071615/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f235a6148185802e4ff46be63bf959837fe6f71
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed613dfb93d9334efcb566857b8ca1eb6b41496094bfb442fbba2afcf454608a
+size 6835505
diff --git a/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..348fe5a6ae823e763e6e11d857754272e33a6cea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc6916a91b26f23a9bb9d3f01f95ca6494810c56d99b0594569e32c50e240c7
+size 2168172
diff --git a/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89dee43d5c3d7223312ded9b247629e52f5b75a7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9b596ee52e0c9216b71b4ecedec50f301f7581540f1e524e10caa0098e975d
+size 12421294
diff --git a/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b477e5ec7892049b5481d75d0a0658ac4fe5ccd5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f917b022edbcc03723ba750fe4e760b77982f122885df4beeed1f7efdcb7fd
+size 8793868
diff --git a/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7526ee18ae9cb5282e1b6b244886883ff73578ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071615/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076b03b044dee2233891074a7da30afa7abcefddd3b7da7d8e6ded4adc11d975
+size 745281
diff --git a/TASK02_A210041B900443_20260723_071839/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071839/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5394756b44779eeeab83693b0eadeee46a3f00f0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f111b4ac910fb5968442c468887cbdd0ed6e1e43e72142de056ae27dc3b9b1cf
+size 345575
diff --git a/TASK02_A210041B900443_20260723_071839/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071839/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad0a06d23e6a6bf4fe73565cc13faf4b29b208e5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 635, "chunk_index": 0, "length": 636}
diff --git a/TASK02_A210041B900443_20260723_071839/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071839/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..610253451875ad2f9ad0555453e89c93fd38fd79
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 635, "num_frames": 636, "num_steps": 635, "num_samples": 636, "duration_s": 21.18062949180603, "fps": 30.02743616501313, "start_timestamp": 0.0, "end_timestamp": 21.18062949180603, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071839/meta/info.json b/TASK02_A210041B900443_20260723_071839/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..216384b9a1d62316cac972325f2607bc759ed519
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 636,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071839/meta/task_info.json b/TASK02_A210041B900443_20260723_071839/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a848cc144270a9e01da60a75269b62adb571c4d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1985",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:21.428812",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071839/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071839/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c300083b368ca23c6215b372e1c973fe7716320c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0946cb75851f1ab16e5e438a4396d5705b1750aa06d788e1237defc66d36f12
+size 9806570
diff --git a/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb903186b8f6ff4e22fa77f09a98ec71fa09b6d7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a37f84eaacef45cee6ae4deae1c5d11b3ebed1550940de8cbddb3d54ea2252
+size 3493157
diff --git a/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb366a81db0523c7fd78cf48bafba2664092e451
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778621ecc41df9808560c9d00bea975e5718c1889e757dc7a90d492099646823
+size 16559294
diff --git a/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ce4e864c322243d4ecd51c02e04ac8b8d41fcad
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b391665ff3bc4b50106174f88842282842f281c059935fad151fdc899c7058f2
+size 15113057
diff --git a/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beaa9e70eb855727e448547f0282b52dbd4afaa2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071839/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b393465a97ecdfb4b4975ccaa22999d52319a1a4667790b38bee25734b148f
+size 1275871
diff --git a/TASK02_A210041B900443_20260723_071903/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071903/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6b282ae2a10ce00251c59285ae5ec4ae124bc3c9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb9d20b8950057b8d210f453653b74ec1c601caa625e0962a0085069f86ca4a
+size 336477
diff --git a/TASK02_A210041B900443_20260723_071903/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071903/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ed65c37cda430d602b819f96da4b3560c1d6735
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 633, "chunk_index": 0, "length": 634}
diff --git a/TASK02_A210041B900443_20260723_071903/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071903/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71e3a295852d56fd0f33cccd27391e5c74a8b8bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 633, "num_frames": 634, "num_steps": 633, "num_samples": 634, "duration_s": 21.13230586051941, "fps": 30.00145862853875, "start_timestamp": 0.0, "end_timestamp": 21.13230586051941, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071903/meta/info.json b/TASK02_A210041B900443_20260723_071903/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..233b3ac4869e6c7359311578b8c7011654693ebe
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 634,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071903/meta/task_info.json b/TASK02_A210041B900443_20260723_071903/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a00bf0b7ee0bc3df06be6c2e4eb84ade579ae8c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1986",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:21.014796",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071903/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071903/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e47c6f0d77885f54ebe43aa4e1611fd95e2b16f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5948da3f13676e46ccea220e97aaedee7ee7cf949a85a4ba3b23295f576a0949
+size 11647275
diff --git a/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4157b6329597807caed944b11ba4d49310a8bb83
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3406e8514594e6a2e42b63c57849cd34f6bf9a37fe408c8637634ed089ed5d
+size 3098875
diff --git a/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d34b6b4b0ac25aadad1fb0ea8f6090a906a498da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c309d6eb7efc488627611626c88f9848de45185ad63cffac920100f31882af7
+size 20354653
diff --git a/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7be8665205ba76ec0114961b8e42ee5ba75064c7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e384d0eb2fa621ffbed8573cda58b8c89922a7eb107327051fea13b3ff189853
+size 17736026
diff --git a/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af188593ca750dd9924508a3c1cc204c6606c446
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071903/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7beb2f201e9fd76b35238d0e7e908a47afd63033e3711889e7177fd03ed22495
+size 1122853
diff --git a/TASK02_A210041B900443_20260723_071929/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071929/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d8c09d5be7b5ed3db691b5fc071ee465eb2f5e76
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6dd8dec176b7f0dce8e603f64f546f50a25cec099f02b493de7e70e1407a4cd
+size 253893
diff --git a/TASK02_A210041B900443_20260723_071929/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071929/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8093d2bb4134f60a73d34911495c81fecc7ec1a6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 464, "chunk_index": 0, "length": 465}
diff --git a/TASK02_A210041B900443_20260723_071929/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071929/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef4f8c5338d65499b887867979e8461b404fa873
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 464, "num_frames": 465, "num_steps": 464, "num_samples": 465, "duration_s": 15.469063997268677, "fps": 30.059995878361068, "start_timestamp": 0.0, "end_timestamp": 15.469063997268677, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071929/meta/info.json b/TASK02_A210041B900443_20260723_071929/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f3e0490e540af29d16461274708d32560ff627
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 465,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071929/meta/task_info.json b/TASK02_A210041B900443_20260723_071929/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..36eaf2c8b0970e0c9cbf35e362235deac5cac448
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1987",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:20.863159",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071929/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071929/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7ecd19a347b02a4d746e753a5fd39c78a8a51ae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa1c65b2e4959f251b064918fb79dfd1660c5a155b81fe70a33a6f270e89353
+size 7635189
diff --git a/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7db08d62e6d9ce0a518bfa66ead530481da9889
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0048f50eef6c479c341baa503f278da7b3a70730301dbf989f0c9e0ccea6d21
+size 1579818
diff --git a/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4a35e2d81ecade1f2849869b14667c1146fcaa2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd31d9d492b7ca25bfbd4ff3b3709da0eba7a0a8e4ded998a0f44c462a56acf
+size 13150900
diff --git a/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4f269b1b3a31fe026f27ac46471d1902e9465e9
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb95279a52e8740fcd33eba0f9efd0684b2fc17549d1661ac6838e26823a50a
+size 12580085
diff --git a/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd0904f6465c733371ff5e1ce929a257972096a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071929/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f258d6a48480f70464421a83e9a1b142070d2ef906d78c9b615105ade841f529
+size 622759
diff --git a/TASK02_A210041B900443_20260723_071951/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_071951/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f6f6cf64ab43a36fbaede6e5a7c01394a0a6083f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e68e2996398cd41c2eda61ca2264485d4dc2a42a09e82334b7ae6068df3702e
+size 271484
diff --git a/TASK02_A210041B900443_20260723_071951/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_071951/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..751741aa9360fc80fcd737db5a89e87e64731d37
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 498, "chunk_index": 0, "length": 499}
diff --git a/TASK02_A210041B900443_20260723_071951/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_071951/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2822e18a6d944630035a24225881ee37fe9b5e07
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 498, "num_frames": 499, "num_steps": 498, "num_samples": 499, "duration_s": 16.615256547927856, "fps": 30.032638891888308, "start_timestamp": 0.0, "end_timestamp": 16.615256547927856, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_071951/meta/info.json b/TASK02_A210041B900443_20260723_071951/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bd1afd10b160c517a0f1c05a79b18952cd2db4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 499,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_071951/meta/task_info.json b/TASK02_A210041B900443_20260723_071951/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0348a76cf20960dc7fa7a832dc2be6355139bb56
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1988",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:20.734141",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_071951/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_071951/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e571aa9ed9e2e486e4257d7a0e5dbfb7c7644163
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b584801db9dad9e10d83947a24f145737b668f6102816c5079fd5ef2ad6e5e54
+size 9292008
diff --git a/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e05f029a4afb525876c15cf53aa6f0d6d45755e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1bba9bc42f468fdf36d2de421f209c181ff0f72c62e2f666bbdd4829a0688ea
+size 2399496
diff --git a/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1acae48c1ac5a27f8bb32c30d96389e5aeb157d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8d2e621194f12aa6df82c90528ad3c10646b947f5e2c6cb61356e51c6fa64b
+size 16681363
diff --git a/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8caddd8acb838f4a28913b45c99d203ab6defa27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724eceac7eb26b9bb17bd76104d2556d21c0c1ecd1e32aa06ee58f8f293968bb
+size 14220349
diff --git a/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83787c7a26daac17388e03c84845a21e397bf388
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_071951/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f58b2e363074d29dba53293d43f9eac73eeada5fad0552257d402cb6ac342f
+size 877917
diff --git a/TASK02_A210041B900443_20260723_072013/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072013/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f9cecc977851c10d176b2eee4c70230a9a6a30ac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa96aa2e64f43249d5336457c09cbe40e10e7db156e26a7970924ca5bfd7474
+size 264396
diff --git a/TASK02_A210041B900443_20260723_072013/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072013/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a18f3100d3d318ca11040de7ef767a315bd614f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 478, "chunk_index": 0, "length": 479}
diff --git a/TASK02_A210041B900443_20260723_072013/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072013/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..227d7036801f84ca5c74124b920e9adb17c19d51
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 478, "num_frames": 479, "num_steps": 478, "num_samples": 479, "duration_s": 15.942150831222534, "fps": 30.04613399227685, "start_timestamp": 0.0, "end_timestamp": 15.942150831222534, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072013/meta/info.json b/TASK02_A210041B900443_20260723_072013/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..27bb483b944e72f7a5afd0c76e0011c7964921e1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 479,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072013/meta/task_info.json b/TASK02_A210041B900443_20260723_072013/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..93385aed4f09d49628fcec192050f3c3151fcf33
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1989",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:20.387172",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072013/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072013/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40c225d4b361aad49a8f9f2a452b798ca4587df6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c90484d2570984dd0e4cafd3485ad45680c58f2afa6e6e7a34106bd8724fbb
+size 7690763
diff --git a/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a34c9ee9022158d681a71dd8bdb865d48ea616c8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39830e4ec92e1954537f30f55bc9a5ace8ee54ccf8337b4afabe8674ced3986f
+size 2219776
diff --git a/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65bcff53a5e6d9d444b1e9391e61f1be6cd3134a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a696b04b592ebd303d57360781aa143f2b4adb5ddb6086b733e19ee38985af
+size 13715495
diff --git a/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ab47c348035a381e8154e08adb794d38f6cccd6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea6fcb8c447fd6d88d3bf92c5de779d601596a6c2ff2d3bd0c3dabe7719d550
+size 11216193
diff --git a/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90bc7a355106f41c21935597f9cf216f851da269
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072013/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a47bcebd46f3728c11c632a2a8ccd82e623c39791a0e6d959624c667b80336
+size 744956
diff --git a/TASK02_A210041B900443_20260723_072036/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072036/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7d54b2f0a0f18eb0dca51e95d6c0230ec95135ff
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884300218e13802fb6d7df76365202d4a70d393b12e9679a97b1084643a88eb1
+size 216133
diff --git a/TASK02_A210041B900443_20260723_072036/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072036/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afb747a22d8deffe3f668360beecef7f595c6e5f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 399, "chunk_index": 0, "length": 400}
diff --git a/TASK02_A210041B900443_20260723_072036/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072036/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7bcb6c1ee60a797e6e2e238bff5e52562e96f3a5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 399, "num_frames": 400, "num_steps": 399, "num_samples": 400, "duration_s": 13.312411785125732, "fps": 30.047147463311592, "start_timestamp": 0.0, "end_timestamp": 13.312411785125732, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072036/meta/info.json b/TASK02_A210041B900443_20260723_072036/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5d7bdbafc652a363d8fca0def85aff3732d2d6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 400,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072036/meta/task_info.json b/TASK02_A210041B900443_20260723_072036/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c99023e83fdc8dad736962e1d599542a08173f81
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1990",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.956482",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072036/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072036/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a37be01a282138566558ac8da6ddd4eba5c27af2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76098b4096bbc8994dd8d3207beff2dd26fab472e8f1393c875cc58fa6f92c8
+size 6163491
diff --git a/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f543f47c4888b6e6bd05737c7d251d5b1551815d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a217a0b445cefc4385ccd6c56e60be6359e6b05e828125ef696421d3171542
+size 1423574
diff --git a/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c574b6c6ca2526e95a6e3e2063415889ee4ed67f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ebb8c925c3375b98204b6c89ce78c48f2ae737a2c0cc42403b696bc52192e6
+size 10984820
diff --git a/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac4d4b7ea98e22fce6d4ebeb476195ec6d582db1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d308b03676864206fc9e882c34c48fbd83796324f09a9e3c3177d723c00b22
+size 10267229
diff --git a/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b852188ea9a625d5627b03ee695fee4459e2742
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072036/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6165d9da0e660bbd44bd4c2c70499bacf8ba8b5f9e5c363e4d059a134e20d8b
+size 506316
diff --git a/TASK02_A210041B900443_20260723_072055/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072055/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..87c5462d5adc6ecb4f1e62f67b9c05aa407e68f4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29cdee30180abdc066c979cc1f8eba9ae4d33c62ee149252188987e42be597a
+size 252908
diff --git a/TASK02_A210041B900443_20260723_072055/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072055/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..834006a5c67f27a8dd8c80852028ccd6dd9c621d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 462, "chunk_index": 0, "length": 463}
diff --git a/TASK02_A210041B900443_20260723_072055/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072055/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..651ed2d0053af06bc16fb9aafb0cf215f308c27b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 462, "num_frames": 463, "num_steps": 462, "num_samples": 463, "duration_s": 15.420631885528564, "fps": 30.02470997537401, "start_timestamp": 0.0, "end_timestamp": 15.420631885528564, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072055/meta/info.json b/TASK02_A210041B900443_20260723_072055/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..809a223382b82fc6f4c2a4f23facfdf68ae19e3a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 463,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072055/meta/task_info.json b/TASK02_A210041B900443_20260723_072055/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d14355f598dcda06226a6261f248b08b3e86b3dc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1991",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.864100",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072055/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072055/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f200839cd563ccc7428285c0b7101705e08fa0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a2cc9f7bf8f6bcabc70aa4dafdc68c186090b4364759200744c382d869ebf7
+size 7638247
diff --git a/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8ae3a3179f7269a2eda2058af8abc09d9065d4a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4a5569aa748dd190692f0538bc53ceaa5932b7a32a5897acf1b9c0bc6c3989
+size 1753101
diff --git a/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abcf2df951c66652f6c7869858ddbbc0ec3c94a5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8678694cd8f5d49fc79a1261b22c3626e9412e59807c4be385cd0923e2d99cf
+size 14511016
diff --git a/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b456731d29c499166cbf9a03d9c215d1e70007f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64ff65068be237e469c13f227c03848885d58cec2028b8dd0d093e694831b799
+size 13342874
diff --git a/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e35da3a613f166356d5c966f99a897add7f7a5d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072055/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9607e9ca3df1b7014024c082c11d5919b4b83b51d1a333aea21eadf175a0ae77
+size 707779
diff --git a/TASK02_A210041B900443_20260723_072117/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072117/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cc59297836872268f35a9735db9a7653a4c6eb1f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b61b27db2a8dbb52ef16f2446ba108767f8e000a4efadec0979172a41bf0c7
+size 249984
diff --git a/TASK02_A210041B900443_20260723_072117/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072117/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcaa3c429f0e17f6a3440871f5ac39f58b8a52
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 457, "chunk_index": 0, "length": 458}
diff --git a/TASK02_A210041B900443_20260723_072117/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072117/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11f16f8582af403adfd0d2da95df9672f165764a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 457, "num_frames": 458, "num_steps": 457, "num_samples": 458, "duration_s": 15.263275146484375, "fps": 30.006666040184186, "start_timestamp": 0.0, "end_timestamp": 15.263275146484375, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072117/meta/info.json b/TASK02_A210041B900443_20260723_072117/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d05c2dd399b98d7a111f643ec9edabfd2040ba
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 458,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072117/meta/task_info.json b/TASK02_A210041B900443_20260723_072117/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca14c99dc5b83256482abf588631da45991ef71
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1992",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.722105",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072117/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072117/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f3c7b7983577bffe3b10a56efe7b6dc35a8c160
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6949e76d7dc8824a3076435128d2715cf03cccdeb25bd7dc4a86e12c64279abc
+size 8099567
diff --git a/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4a49067f623f58d9aafa04093afb8e486c1d2b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d314ed1f75a8c3a1e63102345d066dfe8c50da1c9b361c977ad48666d1c479
+size 1736781
diff --git a/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f06dddb8e1e4bdef2044f56e36767a40cd4339f3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27dd5520b711df7a32353fa05450ebae36aef05720347a090a8a353d7f7415b0
+size 13739921
diff --git a/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12238e8c0a49058483f863710d7d54cd6bc5844e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5143b27579104f00887d17834f72ff614d9d4f6bd47a0fcb4795d6274b3e05ae
+size 12546870
diff --git a/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd9a76840ed5ad79e05ecac77df824995400d9da
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072117/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541f9adfdaecd9afb3ada31430a9dfd51593467a723299da432ee259c8e75a6e
+size 659808
diff --git a/TASK02_A210041B900443_20260723_072138/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072138/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b4c13665c7e15767949451c9cc6f7a24a6af18f3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789da16f4d42223374cd0653b9cc2876b13d902bf8f524077aaa61fab3193662
+size 295665
diff --git a/TASK02_A210041B900443_20260723_072138/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072138/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f3de113184bb3ba5e27521e5905a8a7de08af05
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 546, "chunk_index": 0, "length": 547}
diff --git a/TASK02_A210041B900443_20260723_072138/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072138/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30ea665fc88cb0ecc11302cfa11a342bdb0bdcb7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 546, "num_frames": 547, "num_steps": 546, "num_samples": 547, "duration_s": 18.204931497573853, "fps": 30.04680353083987, "start_timestamp": 0.0, "end_timestamp": 18.204931497573853, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072138/meta/info.json b/TASK02_A210041B900443_20260723_072138/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7166e496e2822cde3a0431b097408734ebefea
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 547,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072138/meta/task_info.json b/TASK02_A210041B900443_20260723_072138/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..062d184f8ba4af2625d7443ee4da13a4642b6b29
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1993",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.594268",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072138/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072138/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7786ff3f96ad3cc6f06a59be0a69e759409933ae
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f4c5bb719f6f2d2f8fe1262cd22135cf915594d9b68ea43c098e73cd2116af2
+size 9111918
diff --git a/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11477a4fdffbf34236d93f4a3618fdfd77eabd2a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47afffa47c57f5c4888ed725b6bd4736f19c5ded610d5a5aeca67c4f7f27f9b3
+size 2319310
diff --git a/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afb452b9a29c4e3286918df8a84484f1007f8120
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9336490ddbb0ecba02b9031415fffd8c1dd517438f72d0ef47d0c225d1aecd
+size 16454221
diff --git a/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b85f8e7ba0b232803e09f93581db6d7cc435ca73
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac32c1cc79ce4f1650b1054c9084518d2252ab5c21d77d1be8976d06892ceee6
+size 14756552
diff --git a/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3a440eda9ef7b14dc26c897f9365a696d3a5531
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072138/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee653755f64a4e51383c652d2d8d7e594c4cda3bce02b1fbb4b63341d7f2bc2c
+size 918570
diff --git a/TASK02_A210041B900443_20260723_072501/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072501/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2cfb7c2b8c8edd26aba05c0fd9f92c9c770fa7d4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979a801081e390673a9a4556d29e4fd60afbb43a77c014e4e85053cba0f6e01c
+size 314345
diff --git a/TASK02_A210041B900443_20260723_072501/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072501/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad0a06d23e6a6bf4fe73565cc13faf4b29b208e5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 635, "chunk_index": 0, "length": 636}
diff --git a/TASK02_A210041B900443_20260723_072501/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072501/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..874e3ae2a6e9bbe9d19fd58e7713801d6ae83c14
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 635, "num_frames": 636, "num_steps": 635, "num_samples": 636, "duration_s": 21.19439697265625, "fps": 30.007930908368348, "start_timestamp": 0.0, "end_timestamp": 21.19439697265625, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072501/meta/info.json b/TASK02_A210041B900443_20260723_072501/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..216384b9a1d62316cac972325f2607bc759ed519
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 636,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072501/meta/task_info.json b/TASK02_A210041B900443_20260723_072501/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc08a4cd8bc297f4c9db6c74a42f83cd49559329
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1994",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.453613",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072501/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072501/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..feb125a40bf042a70831eb7060828aa73bf3a155
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5047a530e5d3a83a7b34f692c74d5f0ea3e543d724d9ef3a4b32d9b8a86b6353
+size 12159911
diff --git a/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fff26ff41e064ff6b1645c7ae1287965f4a4db2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac9de880ad04adbde57f79341603e038f9099d2c0a28fab253dacf4f0a22d7f
+size 3782856
diff --git a/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e24a832ef1a22712752eaedd2a26e8eb24ed78df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:793da885f236b734bb584a2ff550c76d1307a4e455a173f7732f4b2f36847dd9
+size 19744172
diff --git a/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..100e8f1dd4827254cddc3a8e56b1559022264a58
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a709a33793a582c02482dbf6ab9e0f6341fe30584709cb82faf0ccbcb7fc5c2d
+size 16184406
diff --git a/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce0694fefccf186176b653c9c0f3bb24ddd8dbc4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072501/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40457e000963e71c24c9045f79826cd0de4a60b7e1325a88063d3ef6be934bff
+size 1178289
diff --git a/TASK02_A210041B900443_20260723_072529/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072529/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3957c54d742e234cc895c3427397c13514455086
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae9d3f77f5e1c8378d36925ab9ff844d2c78e4b071b2d8a189491fd817b16c9
+size 277594
diff --git a/TASK02_A210041B900443_20260723_072529/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072529/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3b38c68b9fcfc4d7147f71f55fb8a9758ca13ca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 528, "chunk_index": 0, "length": 529}
diff --git a/TASK02_A210041B900443_20260723_072529/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072529/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6dd7efdef707321639576ef10422be51902b874d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 528, "num_frames": 529, "num_steps": 528, "num_samples": 529, "duration_s": 17.62392520904541, "fps": 30.016014805174777, "start_timestamp": 0.0, "end_timestamp": 17.62392520904541, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072529/meta/info.json b/TASK02_A210041B900443_20260723_072529/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb0729354ed93a172ff9fd220b602fb5d58c34d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 529,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072529/meta/task_info.json b/TASK02_A210041B900443_20260723_072529/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9258cb2010421802ef3708def536e93dda7b66e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1995",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:19.110890",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072529/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072529/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6841f41560f46d715c3dee2549b725ce64aca07f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601806ab7b4ab0ea0a5f611f0b4fdd1209d7ef2ff1b1bd09b44be74378e8cbee
+size 9172325
diff --git a/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4346621f27e42e95033cf884777c9b1cfd973da1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2621e6613a6e0119f12e23ce7e67a83c9b94f316077aa212751dc1ebffbce4f
+size 3290654
diff --git a/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cac69739f145f7818fdb8dd3cada33e011ce8d5f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c0470073d872eb544579c7b51fabc8909ff432dc7554590237c203121b5d38
+size 16528809
diff --git a/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a874f25acb05e5f3bd4e4adbbea0e8a5f8cdf55d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d88e353e5c12cbb771dfe7d622965a4839f681c28fe1d6883bc39eda4fcb23e
+size 14893648
diff --git a/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..014c8ddf865985fb2214eb49b57c031c286c6425
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072529/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6640fc246f05c0eddf23e021444258d3980f7476c0973fca2b603a9022025c98
+size 1184957
diff --git a/TASK02_A210041B900443_20260723_072552/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072552/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d83a4eabbf1c19443c647f1460f67270bc301be7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf191b9de56475ba4b3c2f890e009323d668eb29f62d2182153b30fd6ae01435
+size 255663
diff --git a/TASK02_A210041B900443_20260723_072552/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072552/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87d057d7df4b723c86ed1c2fc9debf6ae0d4fa82
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 490, "chunk_index": 0, "length": 491}
diff --git a/TASK02_A210041B900443_20260723_072552/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072552/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95754bfc9b016e401e6dcd3095e40c6f71e47548
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 490, "num_frames": 491, "num_steps": 490, "num_samples": 491, "duration_s": 16.337884426116943, "fps": 30.052850613578304, "start_timestamp": 0.0, "end_timestamp": 16.337884426116943, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072552/meta/info.json b/TASK02_A210041B900443_20260723_072552/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..26719acaf1be00f6c8bb6100a118738f5f77729e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 491,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072552/meta/task_info.json b/TASK02_A210041B900443_20260723_072552/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aeea8122e2c007110cbcb7c16cfd332496af00
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1996",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:18.851324",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072552/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072552/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7ce6aa0ce486c54397c2a784739578a701a3fd8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b6501b5dae916938ebfa804ccc261149289a650d931bd67e6c9cdfa0be9744
+size 8484053
diff --git a/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0d490e3da448821fc15803866923cb10b229f54
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d96f347e37cd8a948689b0e0bbdc68e41e8d88fa81cabfbc63435e73225c20c
+size 2210920
diff --git a/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2f444c5333e0c860522cc8d3cf335e6bea9beed
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f019e7c59e897a25f3c9e7e2c49aaa82103b3e7e47a465cc51e7ab984ed1e120
+size 13957051
diff --git a/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a5cad3e1cb27342f227f7e40cbdc12da927c61c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79d98bfe6be928bb25d6f30b19a6db934c8b31610a8aebe4391f8c0f58ae70e5
+size 12339063
diff --git a/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b69c85014185c7e433ed9141fc41e50025720710
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072552/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d506d92d5d1337beb29d107ff1d0d5acb64b319b79585b831d920ee4ca2cae9
+size 808382
diff --git a/TASK02_A210041B900443_20260723_072648/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_072648/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f453c0eb616ec18bf7f4f3aef4cd41c38ded21be
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60697171063bd8cb5869fee6eed23ebe936779edc0902317c6d0097bd45cb74
+size 187851
diff --git a/TASK02_A210041B900443_20260723_072648/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_072648/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..658a7bfdc31e43328dbe333ccae35ce081359506
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 356, "chunk_index": 0, "length": 357}
diff --git a/TASK02_A210041B900443_20260723_072648/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_072648/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc3ab30b0712993867c6474e8d9d95091aab0e27
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 356, "num_frames": 357, "num_steps": 356, "num_samples": 357, "duration_s": 11.876029253005981, "fps": 30.06055242829909, "start_timestamp": 0.0, "end_timestamp": 11.876029253005981, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_072648/meta/info.json b/TASK02_A210041B900443_20260723_072648/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a0f5ba9ccff4d9969ef3669148ebfded085200
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 357,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_072648/meta/task_info.json b/TASK02_A210041B900443_20260723_072648/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa8eef48317c8758ca1e59edbc1d715d1d6f313
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "1998",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:18.678934",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_072648/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_072648/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..209e84399a6297c494211d85782d6810d9d61b49
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf29b207f923af63b226d3df424ebeacc0779342d8bd48d6a5e78d557b6bb476
+size 5632797
diff --git a/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66b979dcbe92fdbd7e5dc0379b238db24bdbba3b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b96c5478ea9d3f552b7ac44fb2344b16c208f9bbec3d9bbd92deeaecf90184e
+size 1261062
diff --git a/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b179a0bbe849aeb4e37df075cdc18d0fcb688b90
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d40fc98bb8e690527ecb8c771c0e1495db9249e3b0442be152a0aac462927d
+size 10820212
diff --git a/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d49031f3c82930618488331cd0c8b69299fe165
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc13bd2648c50587ebd77e8cbafddd1044c0a5c75aa1c6b6dfe3a8fed907f68
+size 10109729
diff --git a/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17d72f01c3da2f06f211a9f709fcbb30f9180996
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_072648/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15caf601f59cd6f3b589620438df2c7c0308c0e38e1cf3d16a01d703e297248f
+size 535020
diff --git a/TASK02_A210041B900443_20260723_081043/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081043/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cb0a79880ebe3ffba0beb8afaef03526eb1dba0b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f68c0e2112c582b000159e6df96b867a07c4031281fae933a5b65174b67791
+size 300658
diff --git a/TASK02_A210041B900443_20260723_081043/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081043/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52c2b37ca97be3997002b984bc5f59eead2784df
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 569, "chunk_index": 0, "length": 570}
diff --git a/TASK02_A210041B900443_20260723_081043/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081043/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..662c16e11e532b5f2f9b8aaa1e57762773525434
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 569, "num_frames": 570, "num_steps": 569, "num_samples": 570, "duration_s": 18.996192932128906, "fps": 30.006012364505924, "start_timestamp": 0.0, "end_timestamp": 18.996192932128906, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081043/meta/info.json b/TASK02_A210041B900443_20260723_081043/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4adc1fe2a00f0e59aa95395594528227b33532c0
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 570,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081043/meta/task_info.json b/TASK02_A210041B900443_20260723_081043/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba3f74106993b6ec3b5de402594af310328ea45
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2008",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:18.365318",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081043/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081043/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8688521a2991f57445ece7bf283186788a8e8d16
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b847b2a89e6dd075143ddf34b9c1e07498d2ffd8b462b8cf99a9284195c4f63
+size 10116497
diff --git a/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52a76eee40d4af5e2932ad80875c8ea34f3e41e8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6bfdf1d514f52114b808ba3fee7334f41448f60792d38fd7db8b3077a62ed3
+size 3666316
diff --git a/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04b07db73fae27cbe9e3c4fa9acbbed59cfd7ef6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0c2c941eb8c49503de582dbec2b71375ac03b6549c5fc82f4c43e8dfbabfe3
+size 15514280
diff --git a/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec055db5cd953c947a9aad8cc7df3b683bbfd431
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e564c2880218fa958e4dd6d90c712d1aa3fce8294cc174990825307d6b43035
+size 12822596
diff --git a/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f65ff437d2d1285d4663221365b449ede6b0b73c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081043/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d13566e1435cdff9aab91c406fc9d17243921f208e40c66a0c36a4f9b813cc
+size 886215
diff --git a/TASK02_A210041B900443_20260723_081154/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081154/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d645bfd1044a8c7d2717cc8ca61d8594dd4bc164
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeae9e228c7a06ad6e263392ea525e22e7a2bd84f3ebb0e2abfd83bc5d145f31
+size 260012
diff --git a/TASK02_A210041B900443_20260723_081154/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081154/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c551cd0504f2261de21e2fc4c399fe74098af081
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 477, "chunk_index": 0, "length": 478}
diff --git a/TASK02_A210041B900443_20260723_081154/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081154/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0520b5224429e0d0cd5d4de9ef5bc00d8ce922d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 477, "num_frames": 478, "num_steps": 477, "num_samples": 478, "duration_s": 15.900151252746582, "fps": 30.062607103654475, "start_timestamp": 0.0, "end_timestamp": 15.900151252746582, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081154/meta/info.json b/TASK02_A210041B900443_20260723_081154/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..496f06f7a9e4c4cd756db8342376861bfd4f81bf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 478,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081154/meta/task_info.json b/TASK02_A210041B900443_20260723_081154/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20d786291448dd2a6ea69791e4e2f577f3522d72
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2009",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:17.911495",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081154/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081154/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..765d99466710965fca8f52d1ff6dc7b95c081b03
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e39a5ad58fb74e94e7d32ab97358cd0aca0be8561376777731f19c5b56ad822
+size 8442169
diff --git a/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c48a47d477dc80442f674c88a52dd12aa2ee6cb3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:309a262b997f7dc33ca82c1c5f69ef7eec14c8d696504a8c19b52d5b13b85271
+size 2295372
diff --git a/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e30850371a44bcf46c8b45ad1aaeb79e03794eb7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1565d6b167a4f946ee8fb9bcfe734d86d1bd8922b018a37f87463fc18eebc4af
+size 12631396
diff --git a/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61476df0865db3748aea2e5c4fc50951b21da0f3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2408bfa472523a2beb7d6f68a07c241e1dcf04edfd831e0349c22308641427ac
+size 10225200
diff --git a/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eca5e5fda3384ea1b6a52b45efa2c395ed4d6c79
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081154/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe3571427d73e2661370585a188432c0818b1a43f09db92b9575592e75f5ef7c
+size 694557
diff --git a/TASK02_A210041B900443_20260723_081213/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081213/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..72502db819035e67fb39574a036533983849dfec
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288932d55f7518d9903cf2f629e9d649b568c1bce190e2ef1f3993cbab13305f
+size 193379
diff --git a/TASK02_A210041B900443_20260723_081213/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081213/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..658a7bfdc31e43328dbe333ccae35ce081359506
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 356, "chunk_index": 0, "length": 357}
diff --git a/TASK02_A210041B900443_20260723_081213/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081213/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02b7307746afb34733614227ced8b638da45566e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 356, "num_frames": 357, "num_steps": 356, "num_samples": 357, "duration_s": 11.882813215255737, "fps": 30.04339069654532, "start_timestamp": 0.0, "end_timestamp": 11.882813215255737, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081213/meta/info.json b/TASK02_A210041B900443_20260723_081213/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a0f5ba9ccff4d9969ef3669148ebfded085200
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 357,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081213/meta/task_info.json b/TASK02_A210041B900443_20260723_081213/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fefd14ae54ca8cb6360de8e1e8d0a7ba81e32cd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2010",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:17.804364",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081213/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081213/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7a0ef6c9031ca68a026f86eca256053136dbfe5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9930f3378eab8522b7ce763ba727289e1d0a25982d295005a013398b4f2ce693
+size 6226254
diff --git a/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..118e23c113f17f9a64417a0dd3d82359dfb7be2b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02840dc71aabaffe09027b0f32e1a88788637811a23a988875380db1c1e96847
+size 2013971
diff --git a/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7cfc37c97837413d5adb258d532696eaf26a6b8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6e009f626d6141b50aea8a464ff7e782b5f68e52c4954e60caab8708233d8f
+size 10194333
diff --git a/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f6be7f773a13745812e3980f03c5f8fb3159606
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918b1a2679fbd9f4aa6519602861358846d00d087f05335dda4b84796e01e358
+size 8685126
diff --git a/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4f7fa16fa8bd91eae6d7eeb340a47cba6063eca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081213/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45b22926663a9fe585b19e1e8e3341d14be927083f1dc03d352e72f7191c7b5
+size 633846
diff --git a/TASK02_A210041B900443_20260723_081232/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081232/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..924274363abe61703e6c40dceda3e2d5a0f87f55
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e992bebbeb2a149c33cab3910daef6e3f7141c34da22de21c7a15ce6212b1d
+size 252935
diff --git a/TASK02_A210041B900443_20260723_081232/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081232/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8033e4eec2b0545d79f0d7c7afc2012cbc42dc2d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 480, "chunk_index": 0, "length": 481}
diff --git a/TASK02_A210041B900443_20260723_081232/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081232/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c027443ffa08ebff2747a5abfadf25668f70b3e2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 480, "num_frames": 481, "num_steps": 480, "num_samples": 481, "duration_s": 16.03031897544861, "fps": 30.00564123126185, "start_timestamp": 0.0, "end_timestamp": 16.03031897544861, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081232/meta/info.json b/TASK02_A210041B900443_20260723_081232/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f05080eee9f4ea11f03ed0efc8c6cbdbf95c945
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 481,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081232/meta/task_info.json b/TASK02_A210041B900443_20260723_081232/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..010fedd1f36e3db271e4534b29b36b9061819d7e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2011",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:17.628551",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081232/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081232/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ebf5572f0e77ef445f3f45b5e8a7e3582672fca
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c085712d6485bcda91f7dfc164895ceaaa9deffc7fac0bb803c896f0a9e7f3b3
+size 8973838
diff --git a/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c360027acb0468a2e72f1fbdac3df5b5dd07aa5e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc25b8e259f22c23bbf695287f48716b915beef74f03d12cb289e67dcb2702e
+size 2831260
diff --git a/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b49d5a9ff852292de30a74ecaa5afd021ae9f153
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab52e30d040dc720507ada39e4a0e72d5a3d33c649ee2da37a57510de960a33
+size 15178834
diff --git a/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96e931a55a40e0d7807be6d12bcff0d4430b2a77
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:394c585e163eef68fc07c7dbec02339e592f6ac4a545c431ecbfcb30c72a1ade
+size 11350266
diff --git a/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebc145b9363b79b2da6425ca9289bf50d5f6d7d3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081232/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164e12ee54ff95680e254a10d2b722cb1df2d22071d4f18c9e1c71925fee6fa5
+size 841142
diff --git a/TASK02_A210041B900443_20260723_081515/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081515/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f4d79a725059c70ca824c13eb7c288ec6a3e8fd5
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8375fdad597ca810df3b0bc7ad2214e54dfd08e2da0bba7e6b7fd5ddbcd8f3
+size 303874
diff --git a/TASK02_A210041B900443_20260723_081515/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081515/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6df3f38d66cefeb585947e8acb7ab00cfa6b4414
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 594, "chunk_index": 0, "length": 595}
diff --git a/TASK02_A210041B900443_20260723_081515/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081515/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..708af2853ad29b142a6c1d7b0f9eb9c1ca886882
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 594, "num_frames": 595, "num_steps": 594, "num_samples": 595, "duration_s": 19.81419610977173, "fps": 30.028975018903996, "start_timestamp": 0.0, "end_timestamp": 19.81419610977173, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081515/meta/info.json b/TASK02_A210041B900443_20260723_081515/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5cc9fb5bdbc894e4466d16e578fb54c431f24d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 595,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081515/meta/task_info.json b/TASK02_A210041B900443_20260723_081515/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..831f7ac179fe1ee0cd8edd9689230f2b0e7aecbf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2013",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:17.447390",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081515/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081515/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ade6b10906f821eb2f5706b483f0a6cc2e36672
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce58f39643392cbf94b8b638d191d8f0464c6044d96ba9ff5a495c5a039e324f
+size 11491817
diff --git a/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c318851b50f22d12d146fb1f651991857d5ffc9c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d98b29d6e517b3b02676afecb704a64755501354b1f77a822cb8f78bcecfe2
+size 3176972
diff --git a/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5b0c5d56596528c5c31821cf5431b31561515d2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ab506514166733845ab5e0be4a6b0f7a97cd9b2bc356fabcbdf09490b27846
+size 17170662
diff --git a/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9c2f3391fbee74e10a15584dc13efc89fa936
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f6e6c2223f85b868cf7b605879a4687d7e7aea2ba84544c416d5bff74bd667
+size 13230489
diff --git a/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba2c8d5628c683cb159b9d1e6091e6023113a03d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081515/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab11d305426a68aa311cf7a9eada70cf7c3550c0f5e6c1b7db77f49f16c9a4d
+size 943501
diff --git a/TASK02_A210041B900443_20260723_081543/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081543/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bec86db007020dcab19d475b93ded713198efe20
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2503641a395cf6517546727cdf8f1fba65037522751d4dadad9296483a498f1
+size 281159
diff --git a/TASK02_A210041B900443_20260723_081543/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081543/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90996c113877c29c4e3f487db679068e4c75475a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 553, "chunk_index": 0, "length": 554}
diff --git a/TASK02_A210041B900443_20260723_081543/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081543/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d66af37b9e92eca1114acdc9db827441c17b3646
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 553, "num_frames": 554, "num_steps": 553, "num_samples": 554, "duration_s": 18.45916175842285, "fps": 30.012197046120566, "start_timestamp": 0.0, "end_timestamp": 18.45916175842285, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081543/meta/info.json b/TASK02_A210041B900443_20260723_081543/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a9fa473ec93816af2d677b3f6c00af1b43d636
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 554,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081543/meta/task_info.json b/TASK02_A210041B900443_20260723_081543/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09ce731f561d05d3634859de2b230005ad9e3bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2014",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:17.076507",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081543/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081543/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..438bc68619c35e84b4ca6b0f92a05d484783c68d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b1987e2e4867e5d109e1b8595b519c6365ebc96ebc2af7b5a66d64bf449b69
+size 10800441
diff --git a/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0643106194d1fda01e8f4091ec77d9073c06160e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c724e2a4cc0e3a8992cdfda083a1a11be1e688cae4382e73c6e4adda952dcf
+size 2488232
diff --git a/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e21832f7be4da11798892399440deedf545e278f
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6d1e99cf5486b21749099d5660adb084de9865459846bef97999d73054f59ad
+size 16516618
diff --git a/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff24d559e8314377710d9d2a27343890fce5a7a4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf3417d78ae8de5be35c0f8cf2c6834cb2cfffd630b5101c2620f3902ba415c
+size 13684677
diff --git a/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe9014502cca142f2bb9b60b87b377064e8e40d7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081543/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836a1416d977f958e565adb9f0a32412ccf78d4ad344f3f7db6571814faee426
+size 768205
diff --git a/TASK02_A210041B900443_20260723_081609/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081609/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f86981e38218869483a7b2e12201bbabf6c6398c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb43303adea3f964c27a2a8a127a65541a22cc1aae70fc097ea94ec336a6560
+size 264833
diff --git a/TASK02_A210041B900443_20260723_081609/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081609/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e86d55dbb004055c53907405e58ed988deb245ce
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 488, "chunk_index": 0, "length": 489}
diff --git a/TASK02_A210041B900443_20260723_081609/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081609/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b89e3511609deb13409802022c36bd48ac9a9bc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 488, "num_frames": 489, "num_steps": 488, "num_samples": 489, "duration_s": 16.285051345825195, "fps": 30.027538115522066, "start_timestamp": 0.0, "end_timestamp": 16.285051345825195, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081609/meta/info.json b/TASK02_A210041B900443_20260723_081609/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a35419cb2172d6db7729bfe5ab37ed70839169
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 489,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081609/meta/task_info.json b/TASK02_A210041B900443_20260723_081609/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a6bb42f5f4caf875499765782d9f1b7197c2e0c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2015",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:16.812441",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081609/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081609/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21693b59c6f2f367a7c2a8013119c2a4315f52f6
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2b764a2b798aa253610d109717c7d010ce23337d83fca6ba4e765eca14367d
+size 8620861
diff --git a/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..642de35a154d14030dc3737739fa149775d7242d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b54a50c53cabda5961ba403381e96880b60c68c2b26455cb8894e6f2099dcb
+size 2598418
diff --git a/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cf9c0d2a1889f4356340b493d9073974c3fc49c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3bf9b03346d3eda798245f191ad096aa9d25507fbe6c27f1e1fcc545bceee2b
+size 14167196
diff --git a/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..612e9c1ceef7c5f2001a9542f5c97b8557441acc
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eaf69e13c48093699e0cdf3eb637c290eccb799edba4fadfe8dc6b1c8eaee31
+size 11738538
diff --git a/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..157a0c104b4c76e06b7e9a5c28a794d5cd6cbbe3
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081609/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c4bfc9dffa31fdbd6369fb51b36d1d978c785992bf1fbfe4448af5c67d5e51
+size 886663
diff --git a/TASK02_A210041B900443_20260723_081631/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081631/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..534c74f5b623c53e875e5c2c56ca92923d9afd6b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c623d67ce4e5110f0328675db2e8b82072d43a95ab2480c927f5718c8be122b5
+size 206622
diff --git a/TASK02_A210041B900443_20260723_081631/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081631/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5a76a3f0875ee0faeccd69e21d26ced0c381556
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 385, "chunk_index": 0, "length": 386}
diff --git a/TASK02_A210041B900443_20260723_081631/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081631/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02d6d72b3e4a27d03d6c4f186d263f9fe726f8ac
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 385, "num_frames": 386, "num_steps": 385, "num_samples": 386, "duration_s": 12.84093427658081, "fps": 30.060118032375854, "start_timestamp": 0.0, "end_timestamp": 12.84093427658081, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081631/meta/info.json b/TASK02_A210041B900443_20260723_081631/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b18264ccc85b6d6597dfe53c24c660c939c9d8
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 386,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081631/meta/task_info.json b/TASK02_A210041B900443_20260723_081631/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f99580d13f420ab940ae0f2d704223f82d2112a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2016",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:16.703409",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081631/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081631/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4b500085cf284e89d55b6a8ce215af2fe03e10c
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36100d040a4880c410207aaa12f74f5ebc0124c0bd46e82968430421aefbd56
+size 6753147
diff --git a/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..002a765c37c8221e63872ee10c1fe75a9a570ecf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e980c5c349fde26e71cec9b7c31020150a86acdb09606f9eccafc6ff2a0634
+size 1860947
diff --git a/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e4e54fbf8524e86bca13897bab2860077901d1a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48c0cb950b8f2c5c42ebf980e5fec2863e9565331725ffa3ad15d0360daee49
+size 11779192
diff --git a/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d32a3527261348a2322186074b3e7c1f20baecd
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07e181fa449315975f0490292c0f5a70b1995b586a2392c68e9430a99f4a575
+size 8732333
diff --git a/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a22a69d86c2252e9004250994fbf9ea9106192d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081631/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0b47465709c2d084a01bcbe68570ebe153e3a2cf9c975a9fd7764ba5331dfb
+size 633769
diff --git a/TASK02_A210041B900443_20260723_081651/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081651/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..15b27f38abadc6c866f00d066795202070a58e35
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5576c9bc2245c75605ac47c9a79615009312884faf7705da304b9abd2fb5bb
+size 234175
diff --git a/TASK02_A210041B900443_20260723_081651/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081651/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e9ba0617cfe5a2440681270f62bce041df0dd75
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 431, "chunk_index": 0, "length": 432}
diff --git a/TASK02_A210041B900443_20260723_081651/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081651/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96fb0532d9c725c3dd417f2370c010aadeca66f2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 431, "num_frames": 432, "num_steps": 431, "num_samples": 432, "duration_s": 14.381811618804932, "fps": 30.037940382638485, "start_timestamp": 0.0, "end_timestamp": 14.381811618804932, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081651/meta/info.json b/TASK02_A210041B900443_20260723_081651/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea92af9c979eff501ece9b3f68806cd61a1c862e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 432,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081651/meta/task_info.json b/TASK02_A210041B900443_20260723_081651/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b26e71841a8bc6642d532643634cda952ec76c8a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2017",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:16.563302",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081651/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081651/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52a35b863e4d25c105f3481fc36e2d3850a0bb84
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ccf6468acb26ed8fd7ca5cd29f3049101c6705598d4fceb066829a860caabcd
+size 8546269
diff --git a/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f667da8ef6fa8b84fc4646dd3521801954eb6540
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76b535fcc7198738e121d08cea9d9f732d38fd5528576cac7c45452f5a8766d
+size 2158673
diff --git a/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c70465023935f07e9f1b073e38ef2551f30ddf65
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f382adfa2545d9e4a52e692b0bacdba48280f81466f806ad18daa534311ec18
+size 14118978
diff --git a/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7caa0cc8f484f09d96c8c70b4becbd1ea9cc7778
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b27cb794bbab722815c9528a0cd0299987ad985710f42d69634dc75880937337
+size 10049772
diff --git a/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5bbc2e2b659e79617192b5407f4b003f8f22c45
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081651/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9302e84eb91930b26d41836cb808139c960a66d404b2e55537ecca053d8a8256
+size 585446
diff --git a/TASK02_A210041B900443_20260723_081711/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081711/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7bdf3fbe49f77ed7c54e8578a28c8fb3bcf88a49
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba49ee5d133fbe37d3115d0862967790e905402d179d5995f2aba7fcf763638
+size 233727
diff --git a/TASK02_A210041B900443_20260723_081711/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081711/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b253bcc8c8fb883cc96330f24927b80ada14d1af
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 437, "chunk_index": 0, "length": 438}
diff --git a/TASK02_A210041B900443_20260723_081711/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081711/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a50eb7ae29a2ef23da750b7351c20deaaf1d251
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 437, "num_frames": 438, "num_steps": 437, "num_samples": 438, "duration_s": 14.568498849868774, "fps": 30.064868351480516, "start_timestamp": 0.0, "end_timestamp": 14.568498849868774, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081711/meta/info.json b/TASK02_A210041B900443_20260723_081711/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab570b4c6c62fa9ce840d4a83ccc4a47112e34a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 438,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081711/meta/task_info.json b/TASK02_A210041B900443_20260723_081711/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c853dbc770fc05002269bd7721133f20aeb796
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2018",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:16.327318",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081711/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081711/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6212627a408a209fbf75fa5f463626d78bbcddf4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7369ddd830716adf73a03ccb9967e5bdb12ca9ac3339d71cab0482b1689b5dfd
+size 7645810
diff --git a/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59bd1b5cea130de664b35f769d4188a331b8529d
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8534d84c54f68b497e75cfa6130a203f2ef4a0b38328a4603c986a3b712d04
+size 1888277
diff --git a/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de7e6961201aa79799dd9d131cb8f3a45a0ea928
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c70e05af7b17db9928617a94812fb384c4490aaec808f115e09a63619edbaf4
+size 13193583
diff --git a/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c4cd9cf9ac33fcde61de0f339f621c1f238acee
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff31e642b019e62c695fc0c482666c8400c30576ca833545b2f97faa789613b
+size 10637110
diff --git a/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7aaec6b7fd47a7d7478e1af1699c4087a2616012
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081711/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47a8faa96accf9f9509efea5d5b741ee54b063243143c335a65c4ec599ca4319
+size 654510
diff --git a/TASK02_A210041B900443_20260723_081731/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081731/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..173f9510f1d9ee89aa1f313f8864f2358c093c81
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a2f576f64476fadfca5085b847d8e3ac487c11dab7d046b39736e03aaedac1
+size 245086
diff --git a/TASK02_A210041B900443_20260723_081731/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081731/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3fa3f7175de584f5ff4a830a17d41c5126e7183b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 463, "chunk_index": 0, "length": 464}
diff --git a/TASK02_A210041B900443_20260723_081731/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081731/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0cc9a5189c3fac442a74f29d9826f65c7e44ec1a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 463, "num_frames": 464, "num_steps": 463, "num_samples": 464, "duration_s": 15.465619802474976, "fps": 30.002030692992058, "start_timestamp": 0.0, "end_timestamp": 15.465619802474976, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081731/meta/info.json b/TASK02_A210041B900443_20260723_081731/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c935df400f1c15b6c8277c10361e1de61c7479b1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 464,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081731/meta/task_info.json b/TASK02_A210041B900443_20260723_081731/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..21487c351e94d68093f0c0c4bde1f42a0a587392
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2019",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:15.907896",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081731/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081731/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f74400d5baba6d31abc7a8a6589b674d9b34bca1
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3077692f619118ea56b53ad610301bc8d52f07e94dda01540b53cb57bb3813d
+size 7169234
diff --git a/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2397b04afe1aa99d3b939890e04f9610f977e00
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6831e6b8727c5b15d4f979cdfcd7955c185750d2349cf28c1995b01ce327567c
+size 1643238
diff --git a/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d4a84650e389b495e41b768e40bbff96d60e5ab
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca655169efdd5961a565e121fe06400bde44c34faac002e1db4773f0054fe1c
+size 12377055
diff --git a/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5e3ee709f12408977ea4b29f5796677b1cdb867
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9badd391fe47589c4030df68b22311d4d8ae35bd1b6656adc3b990c130f3dbf0
+size 9175541
diff --git a/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0b9d2e627b07eb38e9451c3b2d47f0a57ed76c2
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081731/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9090e1f710b1106d78afbbe5e82ddf223b600e0091523b12fdd9a8687f39f9e3
+size 613377
diff --git a/TASK02_A210041B900443_20260723_081757/data/chunk-000/episode_000000.parquet b/TASK02_A210041B900443_20260723_081757/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cc7eb225c48a36de7cef8479e9cc43e030adbfc7
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29053cae8057e529f6c14f2796f514f85fdd8c44221da8e7784cc97d38ac5f18
+size 296100
diff --git a/TASK02_A210041B900443_20260723_081757/meta/episodes.jsonl b/TASK02_A210041B900443_20260723_081757/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daec1ab4d20f35050a1007f7a38cabfa89060073
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "task_index": 2, "start_index": 0, "end_index": 574, "chunk_index": 0, "length": 575}
diff --git a/TASK02_A210041B900443_20260723_081757/meta/episodes_stats.jsonl b/TASK02_A210041B900443_20260723_081757/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a1b107ff2cb214488c30bc37a640859f5f86d6cf
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "from": 0, "to": 574, "num_frames": 575, "num_steps": 574, "num_samples": 575, "duration_s": 19.13879895210266, "fps": 30.04368254450096, "start_timestamp": 0.0, "end_timestamp": 19.13879895210266, "stats": {}}
diff --git a/TASK02_A210041B900443_20260723_081757/meta/info.json b/TASK02_A210041B900443_20260723_081757/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04bfa1f884eedab2c6c6c0b2af35e10596ef2214
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/meta/info.json
@@ -0,0 +1,1303 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_a2_v2.0",
+  "total_episodes": 1,
+  "total_frames": 575,
+  "total_tasks": 1,
+  "total_videos": 5,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1",
+    "val": "",
+    "test": ""
+  },
+  "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.head_front_color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.head_front_depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.head_front_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left_depth": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        1
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_left_depth/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": true,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right_color": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.hand_right_color/episode_{episode_index:06d}.mp4",
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0
+      }
+    },
+    "observation.state.waist_state_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "observation.state.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "observation.state.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0
+      }
+    },
+    "observation.state.body_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.neck_lidar_imu": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "imu": [
+          "ang_vel_x",
+          "ang_vel_y",
+          "ang_vel_z",
+          "lin_acc_x",
+          "lin_acc_y",
+          "lin_acc_z",
+          "ori_x",
+          "ori_y",
+          "ori_z",
+          "ori_w"
+        ]
+      }
+    },
+    "observation.state.tf": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "observation.state.tf_static": {
+      "dtype": "float32",
+      "shape": [
+        126
+      ],
+      "names": {
+        "transforms": "dynamic"
+      },
+      "transform_keys": [
+        {
+          "key": "base_link->left_arm_link_base",
+          "array_index": 0,
+          "array_size": 7,
+          "byte_offset": 0,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "base_link->right_arm_link_base",
+          "array_index": 7,
+          "array_size": 7,
+          "byte_offset": 28,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_A",
+          "array_index": 14,
+          "array_size": 7,
+          "byte_offset": 56,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link05->left_wrist_motor_B",
+          "array_index": 21,
+          "array_size": 7,
+          "byte_offset": 84,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_arm_link07->left_arm_end",
+          "array_index": 28,
+          "array_size": 7,
+          "byte_offset": 112,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_left",
+          "array_index": 35,
+          "array_size": 7,
+          "byte_offset": 140,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_heel_right",
+          "array_index": 42,
+          "array_size": 7,
+          "byte_offset": 168,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_left",
+          "array_index": 49,
+          "array_size": 7,
+          "byte_offset": 196,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_foot_site->left_foot_toe_right",
+          "array_index": 56,
+          "array_size": 7,
+          "byte_offset": 224,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "left_toe_roll->left_foot_site",
+          "array_index": 63,
+          "array_size": 7,
+          "byte_offset": 252,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_A",
+          "array_index": 70,
+          "array_size": 7,
+          "byte_offset": 280,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link05->right_wrist_motor_B",
+          "array_index": 77,
+          "array_size": 7,
+          "byte_offset": 308,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_arm_link07->right_arm_end",
+          "array_index": 84,
+          "array_size": 7,
+          "byte_offset": 336,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_left",
+          "array_index": 91,
+          "array_size": 7,
+          "byte_offset": 364,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_heel_right",
+          "array_index": 98,
+          "array_size": 7,
+          "byte_offset": 392,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_left",
+          "array_index": 105,
+          "array_size": 7,
+          "byte_offset": 420,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_foot_site->right_foot_toe_right",
+          "array_index": 112,
+          "array_size": 7,
+          "byte_offset": 448,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        },
+        {
+          "key": "right_toe_roll->right_foot_site",
+          "array_index": 119,
+          "array_size": 7,
+          "byte_offset": 476,
+          "byte_size": 28,
+          "layout": [
+            "tx",
+            "ty",
+            "tz",
+            "qx",
+            "qy",
+            "qz",
+            "qw"
+          ]
+        }
+      ],
+      "range_info": {
+        "translation": [
+          -5.0,
+          5.0
+        ],
+        "rotation": [
+          -1.0,
+          1.0
+        ]
+      }
+    },
+    "action.arm_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad"
+      }
+    },
+    "action.arm_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.arm_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": {
+        "arm_joints": [
+          "idx13_left_arm_joint1",
+          "idx14_left_arm_joint2",
+          "idx15_left_arm_joint3",
+          "idx16_left_arm_joint4",
+          "idx17_left_arm_joint5",
+          "idx18_left_arm_joint6",
+          "idx19_left_arm_joint7",
+          "idx20_right_arm_joint1",
+          "idx21_right_arm_joint2",
+          "idx22_right_arm_joint3",
+          "idx23_right_arm_joint4",
+          "idx24_right_arm_joint5",
+          "idx25_right_arm_joint6",
+          "idx26_right_arm_joint7"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.neck_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -0.785,
+        "max": 0.785,
+        "unit": "rad"
+      }
+    },
+    "action.neck_joints_velocity": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": -3.0,
+        "max": 3.0,
+        "unit": "rad/s"
+      }
+    },
+    "action.neck_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "neck_joints": [
+          "idx27_head_joint1",
+          "idx28_head_joint2"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_position": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 2000.0,
+        "unit": "abstract"
+      }
+    },
+    "action.hand_joints_effort": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "names": {
+        "hand_joints": [
+          "left_thumb_rotation_0",
+          "left_thumb_wiggles_1",
+          "left_thumb_bent_2",
+          "left_index_wiggles_0",
+          "left_index_bent_1",
+          "left_middle_bent",
+          "left_ring_wiggles_0",
+          "left_ring_bent_1",
+          "left_pinky_wiggles_0",
+          "left_pinky_bent_1",
+          "right_thumb_rotation_0",
+          "right_thumb_wiggles_1",
+          "right_thumb_bent_2",
+          "right_index_wiggles_0",
+          "right_index_bent_1",
+          "right_middle_bent",
+          "right_ring_wiggles_0",
+          "right_ring_bent_1",
+          "right_pinky_wiggles_0",
+          "right_pinky_bent_1"
+        ]
+      },
+      "range_info": {
+        "min": 0.0,
+        "max": 5700.0,
+        "unit": "abstract"
+      }
+    },
+    "action.waist_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "waist_states": [
+          "z_squat",
+          "pitch_lean",
+          "yaw_turn"
+        ]
+      },
+      "range_info": {
+        "z_squat": [
+          -0.25,
+          0.0
+        ],
+        "pitch_lean": [
+          0.0,
+          0.5236
+        ],
+        "yaw_turn": [
+          -0.5236,
+          0.5236
+        ]
+      }
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
diff --git a/TASK02_A210041B900443_20260723_081757/meta/task_info.json b/TASK02_A210041B900443_20260723_081757/meta/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b7515f09d9917c47a8be49e5f9222dba543b96e
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/meta/task_info.json
@@ -0,0 +1,9 @@
+{
+  "history_id": "2020",
+  "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back",
+  "task_success": true,
+  "retry_success": "na",
+  "saved_at": "2026-07-23T08:46:15.179720",
+  "category": "handover",
+  "task_index": 2
+}
diff --git a/TASK02_A210041B900443_20260723_081757/meta/tasks.jsonl b/TASK02_A210041B900443_20260723_081757/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4734e1200c38faf0f75ea38daf34580bcce76b
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 2, "task": "pick up the bottle and hand it over to human, if no can pick it up, put it back", "category": "handover", "description": "handover: pick up the bottle and hand it over to human, if no can pick it up, put it back"}
diff --git a/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2463dc4e300a59e7182b4f9d4fc8fc4df7152b09
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd328e67acf7019f9fd5d0045985d57d3e8aea0b9b497a68410fbc3f33b09639
+size 10177887
diff --git a/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a49ebd7e81582b316c49404167d0dd3d6288eeb4
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_left_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11b90154b3a0be8d8bcf22573822ec24a3d14598f52e2636196d008402a1ccc9
+size 2828277
diff --git a/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1ebbcbd65fd255578e9c7537732bbd41008c456
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18855abe89f2da278d230108aadd5cc99f8e36dd1fbda20c87b8b52e6aebd0f
+size 17137069
diff --git a/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13e6a510b98fdd5474b13792e8f3408281c6b58a
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_color/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3446611289c271ca8b51ee39de1da6e5dc9cbd088485cf2e9c4680e23d853e
+size 12519732
diff --git a/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4 b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..718e50d5ea47829e206995ef38e88d250cbfe248
--- /dev/null
+++ b/TASK02_A210041B900443_20260723_081757/videos/chunk-000/observation.images.head_front_depth/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31bfa6fe55bab46f5d1841522741a2b2119d7a37a8e7bd016084673fbd07f0de
+size 796414