diff --git a/single_panda_gripper.CloseSingleDoor/meta/episodes.jsonl b/single_panda_gripper.CloseSingleDoor/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a10774ac948ce33a702c6b1d3ebc8afa78c1a804
--- /dev/null
+++ b/single_panda_gripper.CloseSingleDoor/meta/episodes.jsonl
@@ -0,0 +1,2999 @@
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diff --git a/single_panda_gripper.CloseSingleDoor/meta/info.json b/single_panda_gripper.CloseSingleDoor/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4439016d4e3dfa04fc0f7cafbdb5ac4a18d54fcb
--- /dev/null
+++ b/single_panda_gripper.CloseSingleDoor/meta/info.json
@@ -0,0 +1,213 @@
+{
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+    "robot_type": "Panda+OmronBase",
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+    "total_frames": 785853,
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+    "total_videos": 3,
+    "total_chunks": 2,
+    "chunks_size": 1000,
+    "fps": 20.0,
+    "splits": {
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+    "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",
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "has_audio": false
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+        "observation.images.right_view": {
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+            "names": [
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+                "video.fps": 20.0,
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+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
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+        "observation.images.wrist_view": {
+            "dtype": "video",
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+                "channel"
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+                "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.CloseSingleDoor/meta/modality.json b/single_panda_gripper.CloseSingleDoor/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca20819b088b44cf0739b83f8ac5d814b4d92
--- /dev/null
+++ b/single_panda_gripper.CloseSingleDoor/meta/modality.json
@@ -0,0 +1,107 @@
+{
+    "state": {
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+            "end": 3
+        },
+        "base_rotation": {
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+            "end": 7,
+            "rotation_type": "quaternion"
+        },
+        "end_effector_position_absolute": {
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+            "end": 10
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+        "end_effector_position_relative": {
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+            "end": 13
+        },
+        "end_effector_rotation_absolute": {
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+            "end": 17,
+            "rotation_type": "quaternion"
+        },
+        "end_effector_rotation_relative": {
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+            "end": 21,
+            "rotation_type": "quaternion"
+        },
+        "gripper_qpos": {
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+            "end": 23
+        },
+        "gripper_qvel": {
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+            "end": 25
+        },
+        "joint_position": {
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+            "end": 32
+        },
+        "joint_position_cos": {
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+            "end": 39
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+            "end": 46
+        },
+        "joint_velocity": {
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+            "end": 53
+        }
+    },
+    "action": {
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+            "end": 4,
+            "absolute": false
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+            "end": 5,
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+                1
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+            "end": 11,
+            "absolute": false,
+            "rotation_type": "axis_angle"
+        },
+        "gripper_close": {
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+            "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.CloseSingleDoor/meta/stats.json b/single_panda_gripper.CloseSingleDoor/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fa9948186467ecaa148292c85b4f350533dc4e
--- /dev/null
+++ b/single_panda_gripper.CloseSingleDoor/meta/stats.json
@@ -0,0 +1,600 @@
+{
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