diff --git a/single_panda_gripper.OpenSingleDoor/meta/episodes.jsonl b/single_panda_gripper.OpenSingleDoor/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b62a879d05496c304e3239d42ebfc8dd13cb3f7a
--- /dev/null
+++ b/single_panda_gripper.OpenSingleDoor/meta/episodes.jsonl
@@ -0,0 +1,3000 @@
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diff --git a/single_panda_gripper.OpenSingleDoor/meta/info.json b/single_panda_gripper.OpenSingleDoor/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86ac47319774b6d52632e0bf13f287332bee1ff
--- /dev/null
+++ b/single_panda_gripper.OpenSingleDoor/meta/info.json
@@ -0,0 +1,213 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "Panda+OmronBase",
+    "total_episodes": 3000,
+    "total_frames": 808202,
+    "total_tasks": 4,
+    "total_videos": 3,
+    "total_chunks": 3,
+    "chunks_size": 1000,
+    "fps": 20.0,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "names": [
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+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11",
+                "motor_12",
+                "motor_13",
+                "motor_14",
+                "motor_15",
+                "motor_16",
+                "motor_17",
+                "motor_18",
+                "motor_19",
+                "motor_20",
+                "motor_21",
+                "motor_22",
+                "motor_23",
+                "motor_24",
+                "motor_25",
+                "motor_26",
+                "motor_27",
+                "motor_28",
+                "motor_29",
+                "motor_30",
+                "motor_31",
+                "motor_32",
+                "motor_33",
+                "motor_34",
+                "motor_35",
+                "motor_36",
+                "motor_37",
+                "motor_38",
+                "motor_39",
+                "motor_40",
+                "motor_41",
+                "motor_42",
+                "motor_43",
+                "motor_44",
+                "motor_45",
+                "motor_46",
+                "motor_47",
+                "motor_48",
+                "motor_49",
+                "motor_50",
+                "motor_51",
+                "motor_52"
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+            "names": [
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+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11"
+            ]
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+        "timestamp": {
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+                1
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+        },
+        "annotation.human.action.task_description": {
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+        "task_index": {
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+                1
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+        },
+        "annotation.human.action.task_name": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.validity": {
+            "dtype": "int64",
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+                1
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+        },
+        "episode_index": {
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+                1
+            ]
+        },
+        "index": {
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+                1
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+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "observation.images.left_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/single_panda_gripper.OpenSingleDoor/meta/modality.json b/single_panda_gripper.OpenSingleDoor/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca20819b088b44cf0739b83f8ac5d814b4d92
--- /dev/null
+++ b/single_panda_gripper.OpenSingleDoor/meta/modality.json
@@ -0,0 +1,107 @@
+{
+    "state": {
+        "base_position": {
+            "start": 0,
+            "end": 3
+        },
+        "base_rotation": {
+            "start": 3,
+            "end": 7,
+            "rotation_type": "quaternion"
+        },
+        "end_effector_position_absolute": {
+            "start": 7,
+            "end": 10
+        },
+        "end_effector_position_relative": {
+            "start": 10,
+            "end": 13
+        },
+        "end_effector_rotation_absolute": {
+            "start": 13,
+            "end": 17,
+            "rotation_type": "quaternion"
+        },
+        "end_effector_rotation_relative": {
+            "start": 17,
+            "end": 21,
+            "rotation_type": "quaternion"
+        },
+        "gripper_qpos": {
+            "start": 21,
+            "end": 23
+        },
+        "gripper_qvel": {
+            "start": 23,
+            "end": 25
+        },
+        "joint_position": {
+            "start": 25,
+            "end": 32
+        },
+        "joint_position_cos": {
+            "start": 32,
+            "end": 39
+        },
+        "joint_position_sin": {
+            "start": 39,
+            "end": 46
+        },
+        "joint_velocity": {
+            "start": 46,
+            "end": 53
+        }
+    },
+    "action": {
+        "base_motion": {
+            "start": 0,
+            "end": 4,
+            "absolute": false
+        },
+        "control_mode": {
+            "start": 4,
+            "end": 5,
+            "dtype": "int64",
+            "range": [
+                0,
+                1
+            ]
+        },
+        "end_effector_position": {
+            "start": 5,
+            "end": 8,
+            "absolute": false
+        },
+        "end_effector_rotation": {
+            "start": 8,
+            "end": 11,
+            "absolute": false,
+            "rotation_type": "axis_angle"
+        },
+        "gripper_close": {
+            "start": 11,
+            "end": 12,
+            "dtype": "int64",
+            "range": [
+                0,
+                1
+            ]
+        }
+    },
+    "video": {
+        "left_view": {
+            "original_key": "observation.images.left_view"
+        },
+        "right_view": {
+            "original_key": "observation.images.right_view"
+        },
+        "wrist_view": {
+            "original_key": "observation.images.wrist_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {},
+        "human.action.task_name": {},
+        "human.validity": {}
+    }
+}
\ No newline at end of file
diff --git a/single_panda_gripper.OpenSingleDoor/meta/stats.json b/single_panda_gripper.OpenSingleDoor/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..099554d4558f002df35867629df6600d79a59a8e
--- /dev/null
+++ b/single_panda_gripper.OpenSingleDoor/meta/stats.json
@@ -0,0 +1,600 @@
+{
+    "observation.state": {
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