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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d6c958d2d7c530c89f40b2676295e7f046b161f
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "features": {
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+                "main_shoulder_pan",
+                "main_shoulder_lift",
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+                "main_wrist_roll",
+                "main_gripper"
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+}
\ No newline at end of file
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..510d288b1ce33670832bb6862696aa659fbbac8c
--- /dev/null
+++ b/meta/tasks.jsonl
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+{"task_index": 0, "task": "Put the orange cube on top of the yellow cube."}
+{"task_index": 1, "task": "Put the red cube on top of the green cube."}
+{"task_index": 2, "task": "Put the orange cube on top of the green cube."}
+{"task_index": 3, "task": "Put the green cube on top of the red cube."}
+{"task_index": 4, "task": "Put the green cube on top of the purple cube."}
+{"task_index": 5, "task": "Put the blue cube on top of the orange cube."}
+{"task_index": 6, "task": "Put the orange cube on top of the purple cube."}
+{"task_index": 7, "task": "Put the yellow cube on top of the purple cube."}
+{"task_index": 8, "task": "Put the yellow cube on top of the orange cube."}
+{"task_index": 9, "task": "Put the green cube on top of the orange cube."}
+{"task_index": 10, "task": "Put the blue cube on top of the red cube."}
+{"task_index": 11, "task": "Put the blue cube on top of the yellow cube."}
+{"task_index": 12, "task": "Put the red cube on top of the blue cube."}
+{"task_index": 13, "task": "Put the red cube on top of the yellow cube."}
+{"task_index": 14, "task": "Put the purple cube on top of the orange cube."}
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+{"task_index": 16, "task": "Put the green cube on top of the yellow cube."}
+{"task_index": 17, "task": "Put the orange cube on top of the red cube."}
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+{"task_index": 19, "task": "Put the orange cube on top of the blue cube."}
+{"task_index": 20, "task": "Put the yellow cube on top of the red cube."}
+{"task_index": 21, "task": "Put the purple cube on top of the green cube."}
+{"task_index": 22, "task": "Put the purple cube on top of the yellow cube."}
+{"task_index": 23, "task": "Put the purple cube on top of the blue cube."}
+{"task_index": 24, "task": "Put the purple cube on top of the red cube."}
+{"task_index": 25, "task": "Put the yellow cube on top of the green cube."}
+{"task_index": 26, "task": "Put the red cube on top of the purple cube."}
+{"task_index": 27, "task": "Put the green cube on top of the blue cube."}
+{"task_index": 28, "task": "Put the blue cube on top of the purple cube."}
+{"task_index": 29, "task": "Put the red cube on top of the orange cube."}
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