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diff --git a/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/info.json b/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..288161f6ff7b175a3ef92c97bbf93f9191335743
--- /dev/null
+++ b/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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\ No newline at end of file
diff --git a/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
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\ No newline at end of file
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diff --git a/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl b/train_real/Choose_the_10_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl
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diff --git a/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/info.json b/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f5a08c81b1b69e472573f1fcf9b52e62b99820
--- /dev/null
+++ b/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
@@ -0,0 +1,242 @@
+{
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+    "total_frames": 25663,
+    "total_tasks": 1,
+    "total_videos": 150,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                640,
+                3
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+                "channel"
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+                "left_joint_1",
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+                "left_joint_3",
+                "left_joint_4",
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+        "action.right_joint": {
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+            "names": [
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+                "right_joint_1",
+                "right_joint_2",
+                "right_joint_3",
+                "right_joint_4",
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+            "names": [
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+                "right_joint_1",
+                "right_joint_2",
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+        },
+        "task_index": {
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+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Choose_the_30_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
+    "action": {
+        "left_joint": {
+            "start": 0,
+            "end": 6
+        },
+        "left_joint_delta": {
+            "start": 0,
+            "end": 6
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 1
+        },
+        "right_joint": {
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+            "end": 6
+        },
+        "right_joint_delta": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
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+    "state": {
+        "left_joint": {
+            "start": 0,
+            "end": 6
+        },
+        "left_gripper": {
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+            "end": 1
+        },
+        "right_joint": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
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+    "video": {
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+        },
+        "hand_left": {
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+        },
+        "hand_right": {
+            "original_key": "video.hand_right"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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diff --git a/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/info.json b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6fbb8e00b4b60ff52d88628608848e57d99d19
--- /dev/null
+++ b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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\ No newline at end of file
diff --git a/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
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+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f0e4888b867d207fc2f0f22fe0d1c185f2a95c7
--- /dev/null
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\ No newline at end of file
diff --git a/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl b/train_real/Choose_the_35_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl
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diff --git a/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21aacdbda209edd6c4781a66a5aee83a18b68606
--- /dev/null
+++ b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl
@@ -0,0 +1,45 @@
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diff --git a/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/info.json b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f8a30109483aa7ed380f6ef42cbf4dc7a685af
--- /dev/null
+++ b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
@@ -0,0 +1,242 @@
+{
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+    "robot_type": "piper",
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+    "total_frames": 23353,
+    "total_tasks": 1,
+    "total_videos": 135,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    },
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                640,
+                3
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+                "channel"
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+        "action.right_joint": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
+    "action": {
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+            "start": 0,
+            "end": 6
+        },
+        "left_joint_delta": {
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+            "end": 6
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+        "left_gripper": {
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+        "right_joint": {
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+            "end": 6
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+            "end": 6
+        },
+        "left_gripper": {
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+            "end": 1
+        },
+        "right_joint": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
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+    "video": {
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+        }
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+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..197b3198bc1a73953851342451ae010b22af7f8d
--- /dev/null
+++ b/train_real/Choose_the_45_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
@@ -0,0 +1,382 @@
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diff --git a/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1633200a2667b210d773604d016f1bc470ba1762
--- /dev/null
+++ b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
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\ No newline at end of file
diff --git a/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
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diff --git a/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl b/train_real/Choose_the_50_dollars_gift_box_and_add_it_to_the_basket/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c6378649c7af7cfa11f0c3a993e2b1c18674fb9
--- /dev/null
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diff --git a/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/info.json b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d0d5649f870a0454d540277818f75e5d07de4f
--- /dev/null
+++ b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/info.json
@@ -0,0 +1,242 @@
+{
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+    "total_frames": 27824,
+    "total_tasks": 1,
+    "total_videos": 150,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+        "right_gripper": {
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+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc8741e77cbde978a84dabcd2e2755643c93ee6
--- /dev/null
+++ b/train_real/Choose_the_5_dollars_gift_box_and_add_it_to_the_basket/meta/stats.json
@@ -0,0 +1,382 @@
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diff --git a/train_real/Gather_brown_bottle_on_the_basket/meta/info.json b/train_real/Gather_brown_bottle_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..571e849f10607b218f70079f3893428917dfdc21
--- /dev/null
+++ b/train_real/Gather_brown_bottle_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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diff --git a/train_real/Gather_orange_cap_bottle_on_the_basket/meta/info.json b/train_real/Gather_orange_cap_bottle_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..875cf68e47ddcc01636c6832bcb42783c2bb7bf5
--- /dev/null
+++ b/train_real/Gather_orange_cap_bottle_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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new file mode 100644
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diff --git a/train_real/Gather_red_cap_bottle_on_the_basket/meta/info.json b/train_real/Gather_red_cap_bottle_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced4446af3d213b091c18bdd25ba91c68692f540
--- /dev/null
+++ b/train_real/Gather_red_cap_bottle_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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diff --git a/train_real/Gather_yellow_bottle_on_the_basket/meta/info.json b/train_real/Gather_yellow_bottle_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f2d010853249a56e75b384d47eda407801fed2b
--- /dev/null
+++ b/train_real/Gather_yellow_bottle_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
+{
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+                "left_joint_3",
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Gather_yellow_bottle_on_the_basket/meta/modality.json b/train_real/Gather_yellow_bottle_on_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Gather_yellow_bottle_on_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+            "end": 6
+        },
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+            "end": 6
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
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+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/train_real/Make_a_meat-only_sandwich/meta/info.json b/train_real/Make_a_meat-only_sandwich/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2587ee9dec465f0b31c2aff8e7e2bca0a46fec61
--- /dev/null
+++ b/train_real/Make_a_meat-only_sandwich/meta/info.json
@@ -0,0 +1,242 @@
+{
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+    "total_frames": 69071,
+    "total_tasks": 1,
+    "total_videos": 150,
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+    "chunks_size": 1000,
+    "fps": 30,
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "channel"
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+                "left_joint_2",
+                "left_joint_3",
+                "left_joint_4",
+                "left_joint_5"
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+        "action.left_gripper": {
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+        },
+        "action.right_joint": {
+            "dtype": "float32",
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+            ],
+            "names": [
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+                "right_joint_1",
+                "right_joint_2",
+                "right_joint_3",
+                "right_joint_4",
+                "right_joint_5"
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+        },
+        "action.right_joint_delta": {
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+                "right_joint_1",
+                "right_joint_2",
+                "right_joint_3",
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+                "right_joint_5"
+            ]
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+        "action.right_gripper": {
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+                1
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+            ]
+        },
+        "timestamp": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
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+                1
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+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Make_a_meat-only_sandwich/meta/modality.json b/train_real/Make_a_meat-only_sandwich/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Make_a_meat-only_sandwich/meta/modality.json
@@ -0,0 +1,65 @@
+{
+    "action": {
+        "left_joint": {
+            "start": 0,
+            "end": 6
+        },
+        "left_joint_delta": {
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+            "end": 6
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+        "left_gripper": {
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+            "end": 1
+        },
+        "right_joint": {
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+        },
+        "right_joint_delta": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        },
+        "right_joint": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
+    },
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+        },
+        "hand_left": {
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+        },
+        "hand_right": {
+            "original_key": "video.hand_right"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Make_a_meat-only_sandwich/meta/stats.json b/train_real/Make_a_meat-only_sandwich/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a789480333bc35a21018b52e46e9b0cf1b093cd5
--- /dev/null
+++ b/train_real/Make_a_meat-only_sandwich/meta/stats.json
@@ -0,0 +1,382 @@
+{
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diff --git a/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/info.json b/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b9b4015a8949a0aa07b6cf7fab7fb5e1d14260
--- /dev/null
+++ b/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/info.json
@@ -0,0 +1,242 @@
+{
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+                "left_joint_3",
+                "left_joint_4",
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+        },
+        "action.right_joint": {
+            "dtype": "float32",
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+                6
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+            "names": [
+                "right_joint_0",
+                "right_joint_1",
+                "right_joint_2",
+                "right_joint_3",
+                "right_joint_4",
+                "right_joint_5"
+            ]
+        },
+        "action.right_joint_delta": {
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+            "names": [
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+                "right_joint_1",
+                "right_joint_2",
+                "right_joint_3",
+                "right_joint_4",
+                "right_joint_5"
+            ]
+        },
+        "action.right_gripper": {
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+                1
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+            "names": [
+                "right_gripper_0"
+            ]
+        },
+        "timestamp": {
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+                1
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+            "names": null
+        },
+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/modality.json b/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Make_a_mixed_sandwich_(meat_on_top)/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+            "end": 6
+        },
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+        },
+        "right_joint": {
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+            "end": 6
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+        "right_joint_delta": {
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+            "end": 6
+        },
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+            "end": 1
+        },
+        "right_joint": {
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+            "end": 6
+        },
+        "right_gripper": {
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+            "end": 1
+        }
+    },
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+        },
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+        },
+        "hand_right": {
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+        }
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diff --git a/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/episodes_stats.jsonl b/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5e3a0ae48ddae892dffd19b6f97d0b97f83062e
--- /dev/null
+++ b/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/episodes_stats.jsonl
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diff --git a/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/info.json b/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..92746ed274a811179e444c57c5c2fcf2c6c67e18
--- /dev/null
+++ b/train_real/Make_a_mixed_sandwich_(veggies_on_top)/meta/info.json
@@ -0,0 +1,242 @@
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diff --git a/train_real/Make_a_vegan_sandwich/meta/info.json b/train_real/Make_a_vegan_sandwich/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6eab18933637b51658906d7412f79c43d59bba6
--- /dev/null
+++ b/train_real/Make_a_vegan_sandwich/meta/info.json
@@ -0,0 +1,242 @@
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new file mode 100644
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diff --git a/train_real/Place_the_apple_on_the_basket/meta/info.json b/train_real/Place_the_apple_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0caff948a127f74033404a950eb7f86b9b25577f
--- /dev/null
+++ b/train_real/Place_the_apple_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_apple_on_the_basket/meta/modality.json b/train_real/Place_the_apple_on_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_apple_on_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
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diff --git a/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/episodes_stats.jsonl b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c51a194d1c06f5c972ff0192a72ec97c995fce9
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/episodes_stats.jsonl
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diff --git a/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..370cc7f9527208bdba7a3c2279c7646964050cb9
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/info.json
@@ -0,0 +1,242 @@
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+        }
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/modality.json b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_giant_panda/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
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diff --git a/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e43fac6163fb2f7a2572d0075f9e2b3396b644b
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/info.json
@@ -0,0 +1,242 @@
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/modality.json b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/stats.json b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..131461907c7280da2f2a6993b5a614b5c96c16c9
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_guan_yu/meta/stats.json
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diff --git a/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/episodes_stats.jsonl b/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7108389796aa9664d5b3fcc111ef0410d814a77
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/episodes_stats.jsonl
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diff --git a/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cabc0be15d911ece1c53a3ab7514bf448243e0a
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_mona_lisa/meta/info.json
@@ -0,0 +1,242 @@
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diff --git a/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4316907baede8fbc76703342afcdd1fdab64102f
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/info.json
@@ -0,0 +1,242 @@
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/modality.json b/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_monkey_king/meta/modality.json
@@ -0,0 +1,65 @@
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diff --git a/train_real/Place_the_banana_on_the_painting_of_newton/meta/episodes_stats.jsonl b/train_real/Place_the_banana_on_the_painting_of_newton/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98808ec9b222244a0851619143382ab2638f7414
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_newton/meta/episodes_stats.jsonl
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diff --git a/train_real/Place_the_banana_on_the_painting_of_newton/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_newton/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d582bbd72032748b107fdb91a12eac12ab8089
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_newton/meta/info.json
@@ -0,0 +1,242 @@
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+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_painting_of_newton/meta/modality.json b/train_real/Place_the_banana_on_the_painting_of_newton/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_newton/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+            "end": 6
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+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/train_real/Place_the_banana_on_the_painting_of_van_gogh/meta/info.json b/train_real/Place_the_banana_on_the_painting_of_van_gogh/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87a6d503e34f52cbe8370acbc6003cd36050450
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_painting_of_van_gogh/meta/info.json
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diff --git a/train_real/Place_the_banana_on_the_plate/meta/info.json b/train_real/Place_the_banana_on_the_plate/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3858c99c32d76fb35f1b39364d3088083444f9a9
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_plate/meta/info.json
@@ -0,0 +1,242 @@
+{
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+        }
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_plate/meta/modality.json b/train_real/Place_the_banana_on_the_plate/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_plate/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_banana_on_the_plate/meta/stats.json b/train_real/Place_the_banana_on_the_plate/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ccce84bab78f61a7b32369c532574c7a733be3
--- /dev/null
+++ b/train_real/Place_the_banana_on_the_plate/meta/stats.json
@@ -0,0 +1,382 @@
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diff --git a/train_real/Place_the_carrot_on_the_basket/meta/info.json b/train_real/Place_the_carrot_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0910448d748f668cb1797e2d35bcdc5d1031f5be
--- /dev/null
+++ b/train_real/Place_the_carrot_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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+}
\ No newline at end of file
diff --git a/train_real/Place_the_carrot_on_the_basket/meta/modality.json b/train_real/Place_the_carrot_on_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_carrot_on_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
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+        "human.validity": {
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+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_carrot_on_the_basket/meta/stats.json b/train_real/Place_the_carrot_on_the_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3fb671322a59de8ef979a8a8e49118f814450b
--- /dev/null
+++ b/train_real/Place_the_carrot_on_the_basket/meta/stats.json
@@ -0,0 +1,382 @@
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diff --git a/train_real/Place_the_mango_on_the_basket/meta/info.json b/train_real/Place_the_mango_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea21ee5b6dc4c88c23641aaa206287cf9ac7450
--- /dev/null
+++ b/train_real/Place_the_mango_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
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diff --git a/train_real/Place_the_orange_on_the_basket/meta/info.json b/train_real/Place_the_orange_on_the_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4502f2c767bd26696596cf55372fadfdd44882c1
--- /dev/null
+++ b/train_real/Place_the_orange_on_the_basket/meta/info.json
@@ -0,0 +1,242 @@
+{
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+                "left_joint_3",
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_orange_on_the_basket/meta/modality.json b/train_real/Place_the_orange_on_the_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a288fc7d1ba030cda2b185cdc813a3de30caf479
--- /dev/null
+++ b/train_real/Place_the_orange_on_the_basket/meta/modality.json
@@ -0,0 +1,65 @@
+{
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+            "end": 6
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+        },
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+        }
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+        "hand_left": {
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+        },
+        "hand_right": {
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+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        },
+        "human.validity": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/train_real/Place_the_orange_on_the_basket/meta/stats.json b/train_real/Place_the_orange_on_the_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0781403bce1dea8cf06ed85e2fe91bd4e739f3c
--- /dev/null
+++ b/train_real/Place_the_orange_on_the_basket/meta/stats.json
@@ -0,0 +1,382 @@
+{
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