diff --git a/HITHY/so100_peach3/meta/episodes_stats.jsonl b/HITHY/so100_peach3/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..2cbbdc11fea4d3fa1ec3358ccb166acd35f36aac 100644
--- a/HITHY/so100_peach3/meta/episodes_stats.jsonl
+++ b/HITHY/so100_peach3/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/HITHY/so100_peach3/meta/info.json b/HITHY/so100_peach3/meta/info.json
index 6483977dd5ccf547d635e71dc98fa43b0a70f654..cb6f67b800df02b6e8b4ff12ac68cf31335e4744 100644
--- a/HITHY/so100_peach3/meta/info.json
+++ b/HITHY/so100_peach3/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 100,
   "total_frames": 26634,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/HITHY/so100_peach3/meta/info.json.bak b/HITHY/so100_peach3/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..71f17b7ec1459f1d7faf586bad2741f334b6f078
--- /dev/null
+++ b/HITHY/so100_peach3/meta/info.json.bak
@@ -0,0 +1,104 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 100,
+    "total_frames": 26634,
+    "total_tasks": 1,
+    "total_videos": 100,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/HITHY/so100_peach4/meta/episodes_stats.jsonl b/HITHY/so100_peach4/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..77c4aa8f8a50b627d5cb9e0f7efe2750cf2f9be4 100644
--- a/HITHY/so100_peach4/meta/episodes_stats.jsonl
+++ b/HITHY/so100_peach4/meta/episodes_stats.jsonl
@@ -0,0 +1,400 @@
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diff --git a/HITHY/so100_peach4/meta/info.json b/HITHY/so100_peach4/meta/info.json
index 1bd5490b7d2125f7178b0875177be30699d31182..cf139cf46747861c336aea2259bcc23f0ad16e77 100644
--- a/HITHY/so100_peach4/meta/info.json
+++ b/HITHY/so100_peach4/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 400,
   "total_frames": 98409,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/HITHY/so100_peach4/meta/info.json.bak b/HITHY/so100_peach4/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..fded4fcd3a3de8aff2946066e0e38bb15b1a6573
--- /dev/null
+++ b/HITHY/so100_peach4/meta/info.json.bak
@@ -0,0 +1,104 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 400,
+    "total_frames": 98409,
+    "total_tasks": 1,
+    "total_videos": 400,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:400"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/HITHY/so100_strawberry/meta/episodes_stats.jsonl b/HITHY/so100_strawberry/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..7f18f483768749a7ca4f9250bcb95bace884d953 100644
--- a/HITHY/so100_strawberry/meta/episodes_stats.jsonl
+++ b/HITHY/so100_strawberry/meta/episodes_stats.jsonl
@@ -0,0 +1,153 @@
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diff --git a/HITHY/so100_strawberry/meta/info.json b/HITHY/so100_strawberry/meta/info.json
index 0cec559b326a065ee0df308885874a483c41436b..23151ae7218ddf7224eeaa81f8efd93ca3512fb9 100644
--- a/HITHY/so100_strawberry/meta/info.json
+++ b/HITHY/so100_strawberry/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 153,
   "total_frames": 40834,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/HITHY/so100_strawberry/meta/info.json.bak b/HITHY/so100_strawberry/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..47efce8e3444cd0653e653c6bcaae5f619c49987
--- /dev/null
+++ b/HITHY/so100_strawberry/meta/info.json.bak
@@ -0,0 +1,104 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 153,
+    "total_frames": 40834,
+    "total_tasks": 1,
+    "total_videos": 153,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:153"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
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+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "task_index": {
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/Ityl/so100_recording2/meta/episodes_stats.jsonl b/Ityl/so100_recording2/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..d64fa308f8fa36d708073671201359d89e017c3b 100644
--- a/Ityl/so100_recording2/meta/episodes_stats.jsonl
+++ b/Ityl/so100_recording2/meta/episodes_stats.jsonl
@@ -0,0 +1,45 @@
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diff --git a/Ityl/so100_recording2/meta/info.json b/Ityl/so100_recording2/meta/info.json
index b2dad5230196e268c685180f80c4c47eb8ed8f5a..549bcef4ee4f710a1a83af9b1ba047604ebd38f6 100644
--- a/Ityl/so100_recording2/meta/info.json
+++ b/Ityl/so100_recording2/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 45,
   "total_frames": 13634,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/Ityl/so100_recording2/meta/info.json.bak b/Ityl/so100_recording2/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..2ee49b71508a6f11c40ef4d6ae4731d63ca4fb4b
--- /dev/null
+++ b/Ityl/so100_recording2/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 45,
+    "total_frames": 13634,
+    "total_tasks": 1,
+    "total_videos": 90,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:45"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/Jiangeng/so100_413/meta/info.json b/Jiangeng/so100_413/meta/info.json
index f2bdddb608f8a1f6f5d28aebccecfec904a0f09d..df603dd08bd0108e9f624522b55b7d2d2f711e5e 100644
--- a/Jiangeng/so100_413/meta/info.json
+++ b/Jiangeng/so100_413/meta/info.json
@@ -42,7 +42,7 @@
         "left_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/Jiangeng/so100_413/meta/info.json.bak b/Jiangeng/so100_413/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f2bdddb608f8a1f6f5d28aebccecfec904a0f09d
--- /dev/null
+++ b/Jiangeng/so100_413/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 50,
+  "total_frames": 17851,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "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": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "left_shoulder_pan",
+        "left_shoulder_lift",
+        "left_elbow_flex",
+        "left_wrist_flex",
+        "left_wrist_roll",
+        "left_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "left_shoulder_pan",
+        "left_shoulder_lift",
+        "left_elbow_flex",
+        "left_wrist_flex",
+        "left_wrist_roll",
+        "left_gripper"
+      ]
+    },
+    "observation.image2": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.image": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/episodes_stats.jsonl b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..a13f95a9522d4c69026b3446ae6a2ecbd4776933 100644
--- a/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/episodes_stats.jsonl
+++ b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/episodes_stats.jsonl
@@ -0,0 +1,150 @@
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diff --git a/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json
index 1aca8cb57622159ed0a234cec95df1351b960130..2ae5236fb29c126e2465e9008a2cf0c4d66105cb 100644
--- a/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json
+++ b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 150,
   "total_frames": 76045,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json.bak b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..9f578c20ef6d3b3ecc311009f75afd14c3e51ef1
--- /dev/null
+++ b/NONHUMAN-RESEARCH/SOARM100_TASK_VENDA/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 150,
+    "total_frames": 76045,
+    "total_tasks": 1,
+    "total_videos": 300,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:150"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/ad330/cubePlace/meta/info.json b/ad330/cubePlace/meta/info.json
index f7b2564577c275cc365a09fa6bed187de21cdef9..ae92909fa9dcaa45cb68c3d2cbf3e1b3450160e5 100644
--- a/ad330/cubePlace/meta/info.json
+++ b/ad330/cubePlace/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/ad330/cubePlace/meta/info.json.bak b/ad330/cubePlace/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f7b2564577c275cc365a09fa6bed187de21cdef9
--- /dev/null
+++ b/ad330/cubePlace/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.0",
+  "robot_type": "so100",
+  "total_episodes": 50,
+  "total_frames": 15000,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "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": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
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+}
\ No newline at end of file
diff --git a/frk2/so100large/meta/info.json b/frk2/so100large/meta/info.json
index cd293ea884ffe0fb63a14d5d2236b64fb840272d..b48d2aa268ecca23c9701b71cdccf30b50256bc0 100644
--- a/frk2/so100large/meta/info.json
+++ b/frk2/so100large/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
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       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
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         480,
diff --git a/frk2/so100large/meta/info.json.bak b/frk2/so100large/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..cd293ea884ffe0fb63a14d5d2236b64fb840272d
--- /dev/null
+++ b/frk2/so100large/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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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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+        "main_shoulder_pan",
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+        "main_elbow_flex",
+        "main_wrist_flex",
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+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
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+        3
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+    }
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+}
\ No newline at end of file
diff --git a/frk2/so100largediffcam/meta/info.json b/frk2/so100largediffcam/meta/info.json
index 1d95a03acde0dc2a4431098dc5485d25abf934db..b6d84972f15a18b33663c384e9b95cac85d92cc7 100644
--- a/frk2/so100largediffcam/meta/info.json
+++ b/frk2/so100largediffcam/meta/info.json
@@ -42,7 +42,7 @@
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       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
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-    "observation.image": {
+    "observation.images.image": {
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         480,
diff --git a/frk2/so100largediffcam/meta/info.json.bak b/frk2/so100largediffcam/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..1d95a03acde0dc2a4431098dc5485d25abf934db
--- /dev/null
+++ b/frk2/so100largediffcam/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
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+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
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+}
\ No newline at end of file
diff --git a/isadev/bougies3/meta/info.json b/isadev/bougies3/meta/info.json
index 3585584551f836103ee64fee46f0c14e3300d37f..b7aa431df0e326e6564ae7961c889075ee3e04b6 100644
--- a/isadev/bougies3/meta/info.json
+++ b/isadev/bougies3/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
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       "shape": [
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diff --git a/isadev/bougies3/meta/info.json.bak b/isadev/bougies3/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..3585584551f836103ee64fee46f0c14e3300d37f
--- /dev/null
+++ b/isadev/bougies3/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+  "total_videos": 400,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "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",
+  "features": {
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+      "shape": [
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+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
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+    "observation.state": {
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+        6
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+      "names": [
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+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
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+        640,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/lirislab/put_banana_bowl/meta/info.json b/lirislab/put_banana_bowl/meta/info.json
index 1c5721c5b6a67d149e0fb1972144d3635271a627..6c09fa4491291119eb8acbf03c3129f7bee66006 100644
--- a/lirislab/put_banana_bowl/meta/info.json
+++ b/lirislab/put_banana_bowl/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
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         480,
diff --git a/lirislab/put_banana_bowl/meta/info.json.bak b/lirislab/put_banana_bowl/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..1c5721c5b6a67d149e0fb1972144d3635271a627
--- /dev/null
+++ b/lirislab/put_banana_bowl/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
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+  "total_videos": 60,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "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",
+  "features": {
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+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
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+        1
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+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/lirislab/put_coffee_cap_teabox/meta/info.json b/lirislab/put_coffee_cap_teabox/meta/info.json
index b6db5d9a3ed96c106074cbac99dddddf9a99f4e4..10b6cc631ffba48daf508511b062e8776efa9073 100644
--- a/lirislab/put_coffee_cap_teabox/meta/info.json
+++ b/lirislab/put_coffee_cap_teabox/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
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         480,
diff --git a/lirislab/put_coffee_cap_teabox/meta/info.json.bak b/lirislab/put_coffee_cap_teabox/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b6db5d9a3ed96c106074cbac99dddddf9a99f4e4
--- /dev/null
+++ b/lirislab/put_coffee_cap_teabox/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+  "fps": 30,
+  "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",
+  "features": {
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+}
\ No newline at end of file
diff --git a/lirislab/red_cube_into_green_lego_block/meta/info.json.bak b/lirislab/red_cube_into_green_lego_block/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..22a3f940d901a01019a034fed40c4b84a22c787e
--- /dev/null
+++ b/lirislab/red_cube_into_green_lego_block/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
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+    "total_frames": 11447,
+    "total_tasks": 1,
+    "total_videos": 60,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:30"
+    },
+    "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": {
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+            "dtype": "float32",
+            "shape": [
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+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
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+            }
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+        "observation.image": {
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+            "shape": [
+                480,
+                640,
+                3
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+                "width",
+                "channels"
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+                "video.height": 480,
+                "video.width": 640,
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+            }
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+                1
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+                1
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/lirislab/sweep_tissue_cube/meta/info.json b/lirislab/sweep_tissue_cube/meta/info.json
index b32867d1212718c8a7ec727c77c827435a662ab0..f893e51f06896e73fd2f676105e38fe8545268d8 100644
--- a/lirislab/sweep_tissue_cube/meta/info.json
+++ b/lirislab/sweep_tissue_cube/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/lirislab/sweep_tissue_cube/meta/info.json.bak b/lirislab/sweep_tissue_cube/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b32867d1212718c8a7ec727c77c827435a662ab0
--- /dev/null
+++ b/lirislab/sweep_tissue_cube/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 30,
+  "total_frames": 16063,
+  "total_tasks": 1,
+  "total_videos": 60,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:30"
+  },
+  "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": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.image": {
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+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
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+        "channels"
+      ],
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+        "width",
+        "channels"
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+        "video.height": 480,
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+        1
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+    },
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+        1
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+      "names": null
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+    "task_index": {
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+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/pietroom/actualeasytask/meta/info.json b/pietroom/actualeasytask/meta/info.json
index f3a792b6b3bd6703fcf9a62c33d7469d11799fa7..3e8770b4dd30d32df566c9a0c6f883144f36c380 100644
--- a/pietroom/actualeasytask/meta/info.json
+++ b/pietroom/actualeasytask/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/pietroom/actualeasytask/meta/info.json.bak b/pietroom/actualeasytask/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f3a792b6b3bd6703fcf9a62c33d7469d11799fa7
--- /dev/null
+++ b/pietroom/actualeasytask/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 60,
+  "total_frames": 17948,
+  "total_tasks": 1,
+  "total_videos": 120,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:60"
+  },
+  "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": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.image2": {
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+      "shape": [
+        480,
+        640,
+        3
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+        "width",
+        "channels"
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+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
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+        "video.codec": "av1",
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+        "video.is_depth_map": false,
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+        640,
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+      ],
+      "names": [
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+        "width",
+        "channels"
+      ],
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+        "video.height": 480,
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+        "video.codec": "av1",
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+      }
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+        1
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+    },
+    "episode_index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
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+        1
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+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/pietroom/holdthis/meta/info.json b/pietroom/holdthis/meta/info.json
index b8edde6f8863225dde2a2d9a261cf61ff8b1f5ae..66113ab607c4721c3ab4f97dc2cf868bf1d8e7e3 100644
--- a/pietroom/holdthis/meta/info.json
+++ b/pietroom/holdthis/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/pietroom/holdthis/meta/info.json.bak b/pietroom/holdthis/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b8edde6f8863225dde2a2d9a261cf61ff8b1f5ae
--- /dev/null
+++ b/pietroom/holdthis/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
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+  "total_tasks": 1,
+  "total_videos": 180,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "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",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
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+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
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+  }
+}
\ No newline at end of file
diff --git a/pranavsaroha/so100_carrot_2/meta/episodes_stats.jsonl b/pranavsaroha/so100_carrot_2/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..20b32001939fd03b5c6a5cf83aa7cc59ee8ec45f 100644
--- a/pranavsaroha/so100_carrot_2/meta/episodes_stats.jsonl
+++ b/pranavsaroha/so100_carrot_2/meta/episodes_stats.jsonl
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diff --git a/pranavsaroha/so100_carrot_2/meta/info.json b/pranavsaroha/so100_carrot_2/meta/info.json
index d7e0c9d49304c8572cd23da8aa427dbc137ea98d..022eef427180dbce1c84e404317dda59c474359e 100644
--- a/pranavsaroha/so100_carrot_2/meta/info.json
+++ b/pranavsaroha/so100_carrot_2/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 63,
   "total_frames": 25234,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         720,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/pranavsaroha/so100_carrot_2/meta/info.json.bak b/pranavsaroha/so100_carrot_2/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..21da694157977a2654f7944c19fa35a3cf836cd5
--- /dev/null
+++ b/pranavsaroha/so100_carrot_2/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 63,
+    "total_frames": 25234,
+    "total_tasks": 1,
+    "total_videos": 126,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:63"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pranavsaroha/so100_carrot_5/meta/episodes_stats.jsonl b/pranavsaroha/so100_carrot_5/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0a519109ec4e7d8b7b8100cf4200e812d034ebf5 100644
--- a/pranavsaroha/so100_carrot_5/meta/episodes_stats.jsonl
+++ b/pranavsaroha/so100_carrot_5/meta/episodes_stats.jsonl
@@ -0,0 +1,61 @@
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diff --git a/pranavsaroha/so100_carrot_5/meta/info.json b/pranavsaroha/so100_carrot_5/meta/info.json
index ba190fa9423a1c20051f60a40786c89958de91c9..39dbc131607fb9c58c0ee11ee66b9676dc8db780 100644
--- a/pranavsaroha/so100_carrot_5/meta/info.json
+++ b/pranavsaroha/so100_carrot_5/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 61,
   "total_frames": 24199,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         720,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         720,
diff --git a/pranavsaroha/so100_carrot_5/meta/info.json.bak b/pranavsaroha/so100_carrot_5/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..4d3a6b127c6d0eace4de23b3d94baf6ab585b54f
--- /dev/null
+++ b/pranavsaroha/so100_carrot_5/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 61,
+    "total_frames": 24199,
+    "total_tasks": 1,
+    "total_videos": 122,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:61"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pranavsaroha/so100_legos4/meta/episodes_stats.jsonl b/pranavsaroha/so100_legos4/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..ffedcbe2cca2fdd2dedee7c82b0080bc205dee22 100644
--- a/pranavsaroha/so100_legos4/meta/episodes_stats.jsonl
+++ b/pranavsaroha/so100_legos4/meta/episodes_stats.jsonl
@@ -0,0 +1,58 @@
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diff --git a/pranavsaroha/so100_legos4/meta/info.json b/pranavsaroha/so100_legos4/meta/info.json
index 62c89d880aa9840790e3da03b94f104ff0c41c9d..f0f80d0d585872c5c2573354aeaf0fcbee1eabf3 100644
--- a/pranavsaroha/so100_legos4/meta/info.json
+++ b/pranavsaroha/so100_legos4/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 58,
   "total_frames": 89113,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         1080,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         1080,
diff --git a/pranavsaroha/so100_legos4/meta/info.json.bak b/pranavsaroha/so100_legos4/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..72d208a043633b31af27aa45f5ba093e14a73a6c
--- /dev/null
+++ b/pranavsaroha/so100_legos4/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 58,
+    "total_frames": 89113,
+    "total_tasks": 1,
+    "total_videos": 116,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:58"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pranavsaroha/so100_onelego2/meta/episodes_stats.jsonl b/pranavsaroha/so100_onelego2/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..92303d8161196359b380b92c3864dd505ba93951 100644
--- a/pranavsaroha/so100_onelego2/meta/episodes_stats.jsonl
+++ b/pranavsaroha/so100_onelego2/meta/episodes_stats.jsonl
@@ -0,0 +1,30 @@
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diff --git a/pranavsaroha/so100_onelego2/meta/info.json b/pranavsaroha/so100_onelego2/meta/info.json
index 45e4f93aa4f9dabbd4d3bd59b9b63d6730705697..51f6d6b36706d8412bcdf55c358656aaaba3e6f3 100644
--- a/pranavsaroha/so100_onelego2/meta/info.json
+++ b/pranavsaroha/so100_onelego2/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 30,
   "total_frames": 10072,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         1080,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         1080,
diff --git a/pranavsaroha/so100_onelego2/meta/info.json.bak b/pranavsaroha/so100_onelego2/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..8e68221efa20c9fc2955d4c77fe85c074172be15
--- /dev/null
+++ b/pranavsaroha/so100_onelego2/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 30,
+    "total_frames": 10072,
+    "total_tasks": 1,
+    "total_videos": 60,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:30"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pranavsaroha/so100_onelego3/meta/episodes_stats.jsonl b/pranavsaroha/so100_onelego3/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..5f31e0ded336121b455e41cc2ea40eee75952a34 100644
--- a/pranavsaroha/so100_onelego3/meta/episodes_stats.jsonl
+++ b/pranavsaroha/so100_onelego3/meta/episodes_stats.jsonl
@@ -0,0 +1,40 @@
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diff --git a/pranavsaroha/so100_onelego3/meta/info.json b/pranavsaroha/so100_onelego3/meta/info.json
index 7ada4071a1e10ddce00253ce16a00957099d4900..1751be1c8b1d163157153ff25c389323e8b43792 100644
--- a/pranavsaroha/so100_onelego3/meta/info.json
+++ b/pranavsaroha/so100_onelego3/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 40,
   "total_frames": 16316,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         1080,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         1080,
diff --git a/pranavsaroha/so100_onelego3/meta/info.json.bak b/pranavsaroha/so100_onelego3/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..4c5c708668fc16a13a0a25b883edcde79f49c7b8
--- /dev/null
+++ b/pranavsaroha/so100_onelego3/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 40,
+    "total_frames": 16316,
+    "total_tasks": 1,
+    "total_videos": 80,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "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",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/roboticshack/left-arm-grasp-lego-brick/meta/info.json b/roboticshack/left-arm-grasp-lego-brick/meta/info.json
index b0d7a3ee24a61932745e7c2709af931b162abcbe..6a2f1806e9d7c093b6a9ad6d0f95702a5d51402a 100644
--- a/roboticshack/left-arm-grasp-lego-brick/meta/info.json
+++ b/roboticshack/left-arm-grasp-lego-brick/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/roboticshack/left-arm-grasp-lego-brick/meta/info.json.bak b/roboticshack/left-arm-grasp-lego-brick/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b0d7a3ee24a61932745e7c2709af931b162abcbe
--- /dev/null
+++ b/roboticshack/left-arm-grasp-lego-brick/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 99,
+  "total_frames": 59115,
+  "total_tasks": 1,
+  "total_videos": 198,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:99"
+  },
+  "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": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.image": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.image2": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/roboticshack/team-7-left-arm-grasp-motor/meta/info.json b/roboticshack/team-7-left-arm-grasp-motor/meta/info.json
index 5ad46e6c104e5b544f03547bcadebfa43d91cb5b..8357ec99d3db61e266838d31343f847938378912 100644
--- a/roboticshack/team-7-left-arm-grasp-motor/meta/info.json
+++ b/roboticshack/team-7-left-arm-grasp-motor/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/roboticshack/team-7-left-arm-grasp-motor/meta/info.json.bak b/roboticshack/team-7-left-arm-grasp-motor/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..5ad46e6c104e5b544f03547bcadebfa43d91cb5b
--- /dev/null
+++ b/roboticshack/team-7-left-arm-grasp-motor/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
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+  "total_frames": 59123,
+  "total_tasks": 1,
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+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "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",
+  "features": {
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+      "shape": [
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+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
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+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.image": {
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+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
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+}
\ No newline at end of file
diff --git a/roboticshack/team-7-right-arm-grasp-tape/meta/info.json b/roboticshack/team-7-right-arm-grasp-tape/meta/info.json
index 4ecb92759ea50d00ed5506f3d7ecdb6c43461044..9c43ba0363397a61872db3b5040ec5fac5a3c8ac 100644
--- a/roboticshack/team-7-right-arm-grasp-tape/meta/info.json
+++ b/roboticshack/team-7-right-arm-grasp-tape/meta/info.json
@@ -42,7 +42,7 @@
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-    "observation.image": {
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@@ -65,7 +65,7 @@
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       }
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-    "observation.image2": {
+    "observation.images.image2": {
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diff --git a/roboticshack/team-7-right-arm-grasp-tape/meta/info.json.bak b/roboticshack/team-7-right-arm-grasp-tape/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..4ecb92759ea50d00ed5506f3d7ecdb6c43461044
--- /dev/null
+++ b/roboticshack/team-7-right-arm-grasp-tape/meta/info.json.bak
@@ -0,0 +1,127 @@
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+}
\ No newline at end of file
diff --git a/roboticshack/team13-three-balls-stacking/meta/info.json b/roboticshack/team13-three-balls-stacking/meta/info.json
index bb9c2c863695e3b419cbd2fec5cc607862cef3e5..37532b75f00c8fef168e2b9add833618bbca9d10 100644
--- a/roboticshack/team13-three-balls-stacking/meta/info.json
+++ b/roboticshack/team13-three-balls-stacking/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
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       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
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diff --git a/roboticshack/team13-three-balls-stacking/meta/info.json.bak b/roboticshack/team13-three-balls-stacking/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..bb9c2c863695e3b419cbd2fec5cc607862cef3e5
--- /dev/null
+++ b/roboticshack/team13-three-balls-stacking/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+  "splits": {
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+}
\ No newline at end of file
diff --git a/roboticshack/team13-two-balls-stacking/meta/info.json b/roboticshack/team13-two-balls-stacking/meta/info.json
index 32c48a52796c3577c65bcf4eded6e5344bb87ee8..b5e1b1a0b971c27591de786fb43486646472974b 100644
--- a/roboticshack/team13-two-balls-stacking/meta/info.json
+++ b/roboticshack/team13-two-balls-stacking/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
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       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
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diff --git a/roboticshack/team13-two-balls-stacking/meta/info.json.bak b/roboticshack/team13-two-balls-stacking/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..32c48a52796c3577c65bcf4eded6e5344bb87ee8
--- /dev/null
+++ b/roboticshack/team13-two-balls-stacking/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+}
\ No newline at end of file
diff --git a/roboticshack/team16-can-stacking/meta/info.json b/roboticshack/team16-can-stacking/meta/info.json
index f73879a202ac2cf4b744b5485009e932fd5347d6..069349d22b2153b757fd5e2f1dd1385e20709c15 100644
--- a/roboticshack/team16-can-stacking/meta/info.json
+++ b/roboticshack/team16-can-stacking/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
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         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
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-    "observation.image": {
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diff --git a/roboticshack/team16-can-stacking/meta/info.json.bak b/roboticshack/team16-can-stacking/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f73879a202ac2cf4b744b5485009e932fd5347d6
--- /dev/null
+++ b/roboticshack/team16-can-stacking/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+    }
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+}
\ No newline at end of file
diff --git a/roboticshack/team16-water-pouring/meta/info.json b/roboticshack/team16-water-pouring/meta/info.json
index c7440ba3cf0ea4f38dab78e0321a90b15bed685f..04e33b6045388bf9fcc42da8d2b1cde453f9846b 100644
--- a/roboticshack/team16-water-pouring/meta/info.json
+++ b/roboticshack/team16-water-pouring/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
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         480,
@@ -65,7 +65,7 @@
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       }
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-    "observation.image": {
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diff --git a/roboticshack/team16-water-pouring/meta/info.json.bak b/roboticshack/team16-water-pouring/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..c7440ba3cf0ea4f38dab78e0321a90b15bed685f
--- /dev/null
+++ b/roboticshack/team16-water-pouring/meta/info.json.bak
@@ -0,0 +1,127 @@
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+}
\ No newline at end of file
diff --git a/roboticshack/team9-pick_chicken_place_plate/meta/info.json b/roboticshack/team9-pick_chicken_place_plate/meta/info.json
index 30533b7663b2edb4be50c2cf8700c8dd45c8767e..9c09d7a760b5794f126a1cf2fc9c2c558fc78e8c 100644
--- a/roboticshack/team9-pick_chicken_place_plate/meta/info.json
+++ b/roboticshack/team9-pick_chicken_place_plate/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
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       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/roboticshack/team9-pick_chicken_place_plate/meta/info.json.bak b/roboticshack/team9-pick_chicken_place_plate/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..30533b7663b2edb4be50c2cf8700c8dd45c8767e
--- /dev/null
+++ b/roboticshack/team9-pick_chicken_place_plate/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+  "robot_type": "so100",
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+  "total_frames": 19655,
+  "total_tasks": 1,
+  "total_videos": 138,
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+  "chunks_size": 1000,
+  "fps": 30,
+  "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",
+  "features": {
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+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
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+        6
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+    }
+  }
+}
\ No newline at end of file
diff --git a/roboticshack/team9-pick_cube_place_static_plate/meta/info.json b/roboticshack/team9-pick_cube_place_static_plate/meta/info.json
index 8d341d88874dc65a7cdaee7b9ea3ec78d98dface..8412f53b817f7f3fa4e0ed8902d9756e107249df 100644
--- a/roboticshack/team9-pick_cube_place_static_plate/meta/info.json
+++ b/roboticshack/team9-pick_cube_place_static_plate/meta/info.json
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
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       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
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diff --git a/roboticshack/team9-pick_cube_place_static_plate/meta/info.json.bak b/roboticshack/team9-pick_cube_place_static_plate/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..8d341d88874dc65a7cdaee7b9ea3ec78d98dface
--- /dev/null
+++ b/roboticshack/team9-pick_cube_place_static_plate/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+}
\ No newline at end of file
diff --git a/vladfatu/so100_above/meta/episodes_stats.jsonl b/vladfatu/so100_above/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..6d68c2e959c7ccefc6f541c7b978608a635ab581 100644
--- a/vladfatu/so100_above/meta/episodes_stats.jsonl
+++ b/vladfatu/so100_above/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/vladfatu/so100_above/meta/info.json b/vladfatu/so100_above/meta/info.json
index 8501537ccb6b4445ed5b8d0af9fa14c5e7e41318..834dfd85ad2467f8a6307bd1b80eb8fe728ba258 100644
--- a/vladfatu/so100_above/meta/info.json
+++ b/vladfatu/so100_above/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 50,
   "total_frames": 29900,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
     },
-    "observation.image2": {
+    "observation.images.image2": {
       "dtype": "video",
       "shape": [
         480,
@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/vladfatu/so100_above/meta/info.json.bak b/vladfatu/so100_above/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..e39b7d226fc936d06e09ce2ddd6f2b20c0b4e257
--- /dev/null
+++ b/vladfatu/so100_above/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 50,
+    "total_frames": 29900,
+    "total_tasks": 1,
+    "total_videos": 100,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:50"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.image2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/vladfatu/so100_office/meta/episodes_stats.jsonl b/vladfatu/so100_office/meta/episodes_stats.jsonl
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..ae5a43801fc0d0643524fa1954905d8026863a4a 100644
--- a/vladfatu/so100_office/meta/episodes_stats.jsonl
+++ b/vladfatu/so100_office/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/vladfatu/so100_office/meta/info.json b/vladfatu/so100_office/meta/info.json
index 677aec7389bfbab6d6ed3ec52e6048a0aa020f26..a5806e5f7213e371711aa1f05e5af838569b05e8 100644
--- a/vladfatu/so100_office/meta/info.json
+++ b/vladfatu/so100_office/meta/info.json
@@ -1,5 +1,5 @@
 {
-  "codebase_version": "v2.0",
+  "codebase_version": "v2.1",
   "robot_type": "so100",
   "total_episodes": 50,
   "total_frames": 29880,
@@ -42,7 +42,7 @@
         "main_gripper"
       ]
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-    "observation.image2": {
+    "observation.images.image2": {
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@@ -65,7 +65,7 @@
         "has_audio": false
       }
     },
-    "observation.image": {
+    "observation.images.image": {
       "dtype": "video",
       "shape": [
         480,
diff --git a/vladfatu/so100_office/meta/info.json.bak b/vladfatu/so100_office/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..5743155cca8b5bb29345efd2bf19ea2cd3a70507
--- /dev/null
+++ b/vladfatu/so100_office/meta/info.json.bak
@@ -0,0 +1,127 @@
+{
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+    "robot_type": "so100",
+    "total_episodes": 50,
+    "total_frames": 29880,
+    "total_tasks": 1,
+    "total_videos": 100,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+                640,
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+            "names": [
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+        }
+    }
+}
\ No newline at end of file