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diff --git a/gr1_full_upper_body.Pouring/meta/info.json b/gr1_full_upper_body.Pouring/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..659d751080dc51eefe9003c00b692883fa0dfd0b
--- /dev/null
+++ b/gr1_full_upper_body.Pouring/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.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
+            ]
+        },
+        "observation.images.front_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/gr1_full_upper_body.Pouring/meta/modality.json b/gr1_full_upper_body.Pouring/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b8230dc1d0caa0a675e15ef0928818467647cb5
--- /dev/null
+++ b/gr1_full_upper_body.Pouring/meta/modality.json
@@ -0,0 +1,79 @@
+{
+    "state": {
+        "left_arm": {
+            "start": 0,
+            "end": 7
+        },
+        "left_hand": {
+            "start": 7,
+            "end": 13
+        },
+        "left_leg": {
+            "start": 13,
+            "end": 19
+        },
+        "neck": {
+            "start": 19,
+            "end": 22
+        },
+        "right_arm": {
+            "start": 22,
+            "end": 29
+        },
+        "right_hand": {
+            "start": 29,
+            "end": 35
+        },
+        "right_leg": {
+            "start": 35,
+            "end": 41
+        },
+        "waist": {
+            "start": 41,
+            "end": 44
+        }
+    },
+    "action": {
+        "left_arm": {
+            "start": 0,
+            "end": 7
+        },
+        "left_hand": {
+            "start": 7,
+            "end": 13
+        },
+        "left_leg": {
+            "start": 13,
+            "end": 19
+        },
+        "neck": {
+            "start": 19,
+            "end": 22
+        },
+        "right_arm": {
+            "start": 22,
+            "end": 29
+        },
+        "right_hand": {
+            "start": 29,
+            "end": 35
+        },
+        "right_leg": {
+            "start": 35,
+            "end": 41
+        },
+        "waist": {
+            "start": 41,
+            "end": 44
+        }
+    },
+    "video": {
+        "front_view": {
+            "original_key": "observation.images.front_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {},
+        "human.validity": {}
+    }
+}
\ No newline at end of file
diff --git a/gr1_full_upper_body.Pouring/meta/tasks.jsonl b/gr1_full_upper_body.Pouring/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8bab31c0c37c7cf663c444bf040bbe0afed276ee
--- /dev/null
+++ b/gr1_full_upper_body.Pouring/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "pick the cup and pour the ball into the bowl, then pick the bowl and place it on the pad"}
+{"task_index": 1, "task": "valid"}