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new file mode 100644
index 0000000000000000000000000000000000000000..31222bc5ea40d276d2660509197477af8d0cff18
--- /dev/null
+++ b/data/chunk-000/file-000.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aa89efc135156ebdf10f67c4b35ef63da3b3121ce561bed32205e8d624e20869
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diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
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+++ b/meta/episodes/chunk-000/file-000.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1f70fdad6bb7f596ab1e874ee82662e9474ef466e101fc2736b125dc019fbd
+size 2119830
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1caf368e4777df7738834c509d6d24703ac3acc
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,206 @@
+{
+    "codebase_version": "v3.0",
+    "fps": 30,
+    "features": {
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.images.eef": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.images.right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                21
+            ],
+            "names": [
+                "joint_read.position.leg302_joint1",
+                "joint_read.position.leg302_joint2",
+                "joint_read.position.leg302_joint3",
+                "joint_read.position.leg302_joint4",
+                "joint_read.position.leg302_joint5",
+                "joint_read.position.leg302_joint6",
+                "joint_read.position.leg302_joint7",
+                "joint_read.position.leg302_grip2",
+                "tip_pos.translation.x",
+                "tip_pos.translation.y",
+                "tip_pos.translation.z",
+                "tip_pos.rotation.x",
+                "tip_pos.rotation.y",
+                "tip_pos.rotation.z",
+                "tip_pos.rotation.w",
+                "wrench.force.x",
+                "wrench.force.y",
+                "wrench.force.z",
+                "wrench.torque.x",
+                "wrench.torque.y",
+                "wrench.torque.z"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                8
+            ],
+            "names": [
+                "position.leg302_joint1",
+                "position.leg302_joint2",
+                "position.leg302_joint3",
+                "position.leg302_joint4",
+                "position.leg302_joint5",
+                "position.leg302_joint6",
+                "position.leg302_joint7",
+                "position.leg302_grip2"
+            ]
+        },
+        "is_first": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "is_last": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "is_terminal": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "total_episodes": 296,
+    "total_frames": 519684,
+    "total_tasks": 9,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "robot_type": "moonbot_teleop",
+    "splits": {
+        "train": "0:296"
+    }
+}
\ No newline at end of file
diff --git a/meta/rosetta_contract.yaml b/meta/rosetta_contract.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..944fb24374fbaacd551181d4be5fd760062acaae
--- /dev/null
+++ b/meta/rosetta_contract.yaml
@@ -0,0 +1,57 @@
+# moonbot_teleop: differential-drive base.
+# See stone.yaml for the annotated tour of the contract format.
+
+robot_type: moonbot_teleop
+robot_interface: ros2
+fps: 30
+
+observations:
+  observation.images.front:
+    channel: {topic: /body/camera/color/image_raw,
+              type: sensor_msgs/msg/Image,
+              qos: {reliability: best_effort, history: keep_last, depth: 10}}
+    align: {strategy: hold, timeline: header}
+    apply: [resize: [480, 640]]
+
+  observation.images.eef:
+    channel: {topic: /eef/camera/color/image_raw,
+              type: sensor_msgs/msg/Image,
+              qos: {reliability: best_effort, history: keep_last, depth: 10}}
+    align: {strategy: hold, timeline: header}
+    apply: [resize: [480, 640]]
+
+  observation.images.right:
+    channel: {topic: /right/camera/color/image_raw,
+              type: sensor_msgs/msg/Image,
+              qos: {reliability: best_effort, history: keep_last, depth: 10}}
+    align: {strategy: hold, timeline: header}
+    apply: [resize: [480, 640]]
+
+  # Concatenated from wheels + imu + odom (16 dims total), in order.
+  observation.state:
+    - channel: {topic: /leg302/joint_read,
+                type: sensor_msgs/msg/JointState,
+                qos: {reliability: best_effort, history: keep_last, depth: 50}}
+      align: {strategy: hold, timeline: header}
+      select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2]
+    - channel: {topic: /leg302/tip_pos,
+                type: geometry_msgs/msg/Transform,
+                decoder: "rosetta.examples.moonbot_codecs:decode_transform",
+                qos: {reliability: best_effort, history: keep_last, depth: 50}}
+      align: {strategy: hold, timeline: receive}
+      select: [translation.x, translation.y, translation.z, rotation.x, rotation.y, rotation.z, rotation.w]
+    - channel: {topic: /F_ee,
+                type: geometry_msgs/msg/WrenchStamped,
+                decoder: "rosetta.examples.moonbot_codecs:decode_wrench_stamped",
+                qos: {reliability: best_effort, history: keep_last, depth: 50}}
+      align: {strategy: hold, timeline: header}
+      select: [wrench.force.x, wrench.force.y, wrench.force.z, wrench.torque.x, wrench.torque.y, wrench.torque.z]
+
+actions:
+  action:
+    channel: {topic: /leg302/joint_set_teleop, type: sensor_msgs/msg/JointState,
+              qos: {reliability: reliable, history: keep_last, depth: 10},
+              safety: hold}
+    align: {strategy: hold, timeline: header}
+    select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2]
+
diff --git a/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c99c245a2ada66fc292569476523719bdf9f4e
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,1039 @@
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