diff --git a/single_panda_gripper.PnPSinkToCounter/meta/episodes.jsonl b/single_panda_gripper.PnPSinkToCounter/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cca768502f4f40bc48d12cde7c8701eac9fe5d42
--- /dev/null
+++ b/single_panda_gripper.PnPSinkToCounter/meta/episodes.jsonl
@@ -0,0 +1,3000 @@
+{"episode_index": 0, "tasks": ["pick the avocado from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 246, "trajectory_id": "PnPSinkToCounter-demo_0"}
+{"episode_index": 1, "tasks": ["pick the orange from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 299, "trajectory_id": "PnPSinkToCounter-demo_1"}
+{"episode_index": 2, "tasks": ["pick the orange from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 251, "trajectory_id": "PnPSinkToCounter-demo_10"}
+{"episode_index": 3, "tasks": ["pick the tomato from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 296, "trajectory_id": "PnPSinkToCounter-demo_100"}
+{"episode_index": 4, "tasks": ["pick the banana from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 239, "trajectory_id": "PnPSinkToCounter-demo_1000"}
+{"episode_index": 5, "tasks": ["pick the eggplant from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 255, "trajectory_id": "PnPSinkToCounter-demo_1001"}
+{"episode_index": 6, "tasks": ["pick the cucumber from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 252, "trajectory_id": "PnPSinkToCounter-demo_1002"}
+{"episode_index": 7, "tasks": ["pick the mango from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 332, "trajectory_id": "PnPSinkToCounter-demo_1003"}
+{"episode_index": 8, "tasks": ["pick the carrot from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 270, "trajectory_id": "PnPSinkToCounter-demo_1004"}
+{"episode_index": 9, "tasks": ["pick the orange from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 256, "trajectory_id": "PnPSinkToCounter-demo_1005"}
+{"episode_index": 10, "tasks": ["pick the onion from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 263, "trajectory_id": "PnPSinkToCounter-demo_1006"}
+{"episode_index": 11, "tasks": ["pick the sweet potato from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 256, "trajectory_id": "PnPSinkToCounter-demo_1007"}
+{"episode_index": 12, "tasks": ["pick the mango from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 364, "trajectory_id": "PnPSinkToCounter-demo_1008"}
+{"episode_index": 13, "tasks": ["pick the kiwi from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 341, "trajectory_id": "PnPSinkToCounter-demo_1009"}
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+{"episode_index": 16, "tasks": ["pick the mango from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 284, "trajectory_id": "PnPSinkToCounter-demo_1011"}
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+{"episode_index": 18, "tasks": ["pick the sweet potato from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 280, "trajectory_id": "PnPSinkToCounter-demo_1013"}
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+{"episode_index": 2922, "tasks": ["pick the bell pepper from the sink and place it on the plate located on the counter", "PnPSinkToCounter", "Valid"], "length": 276, "trajectory_id": "PnPSinkToCounter-demo_929"}
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diff --git a/single_panda_gripper.PnPSinkToCounter/meta/info.json b/single_panda_gripper.PnPSinkToCounter/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2074bafb7b9f6bf2025d9745ef5c33824098c83a
--- /dev/null
+++ b/single_panda_gripper.PnPSinkToCounter/meta/info.json
@@ -0,0 +1,213 @@
+{
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+    "total_frames": 822477,
+    "total_tasks": 32,
+    "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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+                "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",
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+                "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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+                "motor_2",
+                "motor_3",
+                "motor_4",
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+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11"
+            ]
+        },
+        "timestamp": {
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+        },
+        "annotation.human.action.task_description": {
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+        },
+        "annotation.human.action.task_name": {
+            "dtype": "int64",
+            "shape": [
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+        },
+        "annotation.human.validity": {
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+        },
+        "episode_index": {
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+            ]
+        },
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+            ]
+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "observation.images.left_view": {
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+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
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+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_view": {
+            "dtype": "video",
+            "shape": [
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+                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.PnPSinkToCounter/meta/modality.json b/single_panda_gripper.PnPSinkToCounter/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca20819b088b44cf0739b83f8ac5d814b4d92
--- /dev/null
+++ b/single_panda_gripper.PnPSinkToCounter/meta/modality.json
@@ -0,0 +1,107 @@
+{
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+            "end": 3
+        },
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+            "end": 7,
+            "rotation_type": "quaternion"
+        },
+        "end_effector_position_absolute": {
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+            "end": 10
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+}
\ No newline at end of file
diff --git a/single_panda_gripper.PnPSinkToCounter/meta/stats.json b/single_panda_gripper.PnPSinkToCounter/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..50dace3438e8527f246ba1aa1a84e8ffca89d144
--- /dev/null
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\ No newline at end of file
diff --git a/single_panda_gripper.PnPSinkToCounter/meta/tasks.jsonl b/single_panda_gripper.PnPSinkToCounter/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ffd7d82ee9360926e15d5f5f08c1865a199d338
--- /dev/null
+++ b/single_panda_gripper.PnPSinkToCounter/meta/tasks.jsonl
@@ -0,0 +1,32 @@
+{"task_index": 0, "task": "pick the avocado from the sink and place it on the plate located on the counter"}
+{"task_index": 1, "task": "PnPSinkToCounter"}
+{"task_index": 2, "task": "Valid"}
+{"task_index": 3, "task": "pick the orange from the sink and place it on the plate located on the counter"}
+{"task_index": 4, "task": "pick the tomato from the sink and place it on the plate located on the counter"}
+{"task_index": 5, "task": "pick the banana from the sink and place it on the plate located on the counter"}
+{"task_index": 6, "task": "pick the eggplant from the sink and place it on the plate located on the counter"}
+{"task_index": 7, "task": "pick the cucumber from the sink and place it on the plate located on the counter"}
+{"task_index": 8, "task": "pick the mango from the sink and place it on the plate located on the counter"}
+{"task_index": 9, "task": "pick the carrot from the sink and place it on the plate located on the counter"}
+{"task_index": 10, "task": "pick the onion from the sink and place it on the plate located on the counter"}
+{"task_index": 11, "task": "pick the sweet potato from the sink and place it on the plate located on the counter"}
+{"task_index": 12, "task": "pick the kiwi from the sink and place it on the plate located on the counter"}
+{"task_index": 13, "task": "pick the lime from the sink and place it on the plate located on the counter"}
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diff --git a/single_panda_gripper.TurnSinkSpout/meta/info.json b/single_panda_gripper.TurnSinkSpout/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9667c9ac4782b433ac53decc506ec646e25c5046
--- /dev/null
+++ b/single_panda_gripper.TurnSinkSpout/meta/info.json
@@ -0,0 +1,213 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "Panda+OmronBase",
+    "total_episodes": 2967,
+    "total_frames": 393622,
+    "total_tasks": 4,
+    "total_videos": 3,
+    "total_chunks": 2,
+    "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": {
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
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+            ],
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+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
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diff --git a/single_panda_gripper.TurnSinkSpout/meta/modality.json b/single_panda_gripper.TurnSinkSpout/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca20819b088b44cf0739b83f8ac5d814b4d92
--- /dev/null
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\ No newline at end of file
diff --git a/single_panda_gripper.TurnSinkSpout/meta/stats.json b/single_panda_gripper.TurnSinkSpout/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a09989d0dbf63b7f2b3e27d3b729626a4a52b31
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+}
\ No newline at end of file
diff --git a/single_panda_gripper.TurnSinkSpout/meta/tasks.jsonl b/single_panda_gripper.TurnSinkSpout/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b7cd81206a6627ddfca1077503a05cbc8d478cc
--- /dev/null
+++ b/single_panda_gripper.TurnSinkSpout/meta/tasks.jsonl
@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "turn the sink spout to the right"}
+{"task_index": 1, "task": "TurnSinkSpout"}
+{"task_index": 2, "task": "Valid"}
+{"task_index": 3, "task": "turn the sink spout to the left"}