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+{"episode_index": 947, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-02-11-04-TwoArmPouring-01001"}
+{"episode_index": 948, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-00-48-57-TwoArmPouring-00672"}
+{"episode_index": 949, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 247, "trajectory_id": "2025-02-03-23-11-49-TwoArmPouring-00317"}
+{"episode_index": 950, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-21-59-12-TwoArmPouring-00054"}
+{"episode_index": 951, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-01-17-54-TwoArmPouring-00791"}
+{"episode_index": 952, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-00-13-22-TwoArmPouring-00535"}
+{"episode_index": 953, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-01-52-55-TwoArmPouring-00932"}
+{"episode_index": 954, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 315, "trajectory_id": "2025-02-03-22-59-26-TwoArmPouring-00272"}
+{"episode_index": 955, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 235, "trajectory_id": "2025-02-03-21-48-02-TwoArmPouring-00014"}
+{"episode_index": 956, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-03-23-44-40-TwoArmPouring-00432"}
+{"episode_index": 957, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 255, "trajectory_id": "2025-02-04-00-04-21-TwoArmPouring-00503"}
+{"episode_index": 958, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 297, "trajectory_id": "2025-02-04-01-27-32-TwoArmPouring-00828"}
+{"episode_index": 959, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-00-35-56-TwoArmPouring-00621"}
+{"episode_index": 960, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 297, "trajectory_id": "2025-02-03-22-21-57-TwoArmPouring-00140"}
+{"episode_index": 961, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-04-00-56-22-TwoArmPouring-00702"}
+{"episode_index": 962, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 247, "trajectory_id": "2025-02-03-23-03-49-TwoArmPouring-00287"}
+{"episode_index": 963, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-03-23-49-48-TwoArmPouring-00451"}
+{"episode_index": 964, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 255, "trajectory_id": "2025-02-04-00-11-17-TwoArmPouring-00528"}
+{"episode_index": 965, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-03-23-07-10-TwoArmPouring-00300"}
+{"episode_index": 966, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 247, "trajectory_id": "2025-02-04-01-08-19-TwoArmPouring-00752"}
+{"episode_index": 967, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 255, "trajectory_id": "2025-02-04-00-36-11-TwoArmPouring-00622"}
+{"episode_index": 968, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-01-55-40-TwoArmPouring-00943"}
+{"episode_index": 969, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-22-37-25-TwoArmPouring-00195"}
+{"episode_index": 970, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-21-53-06-TwoArmPouring-00036"}
+{"episode_index": 971, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 235, "trajectory_id": "2025-02-03-23-03-36-TwoArmPouring-00286"}
+{"episode_index": 972, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 315, "trajectory_id": "2025-02-03-23-10-57-TwoArmPouring-00314"}
+{"episode_index": 973, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 297, "trajectory_id": "2025-02-04-02-02-16-TwoArmPouring-00970"}
+{"episode_index": 974, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-04-00-16-23-TwoArmPouring-00547"}
+{"episode_index": 975, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-03-23-16-19-TwoArmPouring-00333"}
+{"episode_index": 976, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-03-22-34-26-TwoArmPouring-00182"}
+{"episode_index": 977, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-21-57-37-TwoArmPouring-00048"}
+{"episode_index": 978, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-04-00-08-25-TwoArmPouring-00518"}
+{"episode_index": 979, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-03-22-11-33-TwoArmPouring-00103"}
+{"episode_index": 980, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 290, "trajectory_id": "2025-02-04-00-52-40-TwoArmPouring-00687"}
+{"episode_index": 981, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 297, "trajectory_id": "2025-02-04-00-43-43-TwoArmPouring-00651"}
+{"episode_index": 982, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-21-55-11-TwoArmPouring-00043"}
+{"episode_index": 983, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-04-00-18-07-TwoArmPouring-00553"}
+{"episode_index": 984, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-03-23-25-59-TwoArmPouring-00366"}
+{"episode_index": 985, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 315, "trajectory_id": "2025-02-04-00-13-02-TwoArmPouring-00534"}
+{"episode_index": 986, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 297, "trajectory_id": "2025-02-03-23-00-15-TwoArmPouring-00275"}
+{"episode_index": 987, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-00-49-36-TwoArmPouring-00675"}
+{"episode_index": 988, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-04-01-28-31-TwoArmPouring-00832"}
+{"episode_index": 989, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-03-23-08-03-TwoArmPouring-00303"}
+{"episode_index": 990, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-03-22-15-16-TwoArmPouring-00112"}
+{"episode_index": 991, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 245, "trajectory_id": "2025-02-04-01-07-37-TwoArmPouring-00749"}
+{"episode_index": 992, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-01-47-19-TwoArmPouring-00908"}
+{"episode_index": 993, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 315, "trajectory_id": "2025-02-03-23-46-09-TwoArmPouring-00437"}
+{"episode_index": 994, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-04-00-00-55-TwoArmPouring-00491"}
+{"episode_index": 995, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 260, "trajectory_id": "2025-02-04-00-10-44-TwoArmPouring-00526"}
+{"episode_index": 996, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 247, "trajectory_id": "2025-02-03-22-22-35-TwoArmPouring-00139"}
+{"episode_index": 997, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 267, "trajectory_id": "2025-02-04-00-57-19-TwoArmPouring-00706"}
+{"episode_index": 998, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 315, "trajectory_id": "2025-02-04-00-16-42-TwoArmPouring-00548"}
+{"episode_index": 999, "tasks": ["pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad", "valid"], "length": 255, "trajectory_id": "2025-02-04-00-32-39-TwoArmPouring-00609"}
diff --git a/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/info.json b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c0786ce4ec84f705f204ab76def466959b9c30
--- /dev/null
+++ b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/info.json
@@ -0,0 +1,190 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "GR1FixedLowerBody",
+    "total_episodes": 1000,
+    "total_frames": 267780,
+    "total_tasks": 2,
+    "total_videos": 1000,
+    "total_chunks": 1,
+    "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.images.agentview_pad_res256_freq20": {
+            "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.state": {
+            "dtype": "float64",
+            "shape": [
+                44
+            ],
+            "names": [
+                "motor_0",
+                "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"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                44
+            ],
+            "names": [
+                "motor_0",
+                "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.action.task_description": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.validity": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/metadata.json b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd08a5f2875e3bcfa86565c916a8dc8dd9e5f5b4
--- /dev/null
+++ b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/metadata.json
@@ -0,0 +1,923 @@
+{
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+}
\ No newline at end of file
diff --git a/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/modality.json b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..0387cf39cac84fbb14bbbcdcb5995ff979958878
--- /dev/null
+++ b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/modality.json
@@ -0,0 +1,79 @@
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diff --git a/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/stats.json b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8880baefbccb07d289ba4c2166e0dae0a42503e
--- /dev/null
+++ b/robocasa_gr1_fixed_lower_body_fourier_hands.TwoArmPouringPadRes256Freq20_1000/meta/stats.json
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