diff --git a/bimanual_panda_gripper.Threading/meta/episodes.jsonl b/bimanual_panda_gripper.Threading/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0230f190986babe042fc6fb0c6625dcdd395f9c8
--- /dev/null
+++ b/bimanual_panda_gripper.Threading/meta/episodes.jsonl
@@ -0,0 +1,1000 @@
+{"episode_index": 0, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-04-24-38-TwoArmThreading-00051"}
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+{"episode_index": 910, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 262, "trajectory_id": "2025-02-03-07-30-37-TwoArmThreading-00718"}
+{"episode_index": 911, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-06-57-24-TwoArmThreading-00599"}
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+{"episode_index": 936, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 200, "trajectory_id": "2025-02-03-04-39-48-TwoArmThreading-00117"}
+{"episode_index": 937, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-53-45-TwoArmThreading-00586"}
+{"episode_index": 938, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 202, "trajectory_id": "2025-02-03-05-52-37-TwoArmThreading-00372"}
+{"episode_index": 939, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-04-16-31-TwoArmThreading-00010"}
+{"episode_index": 940, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 202, "trajectory_id": "2025-02-03-07-05-40-TwoArmThreading-00628"}
+{"episode_index": 941, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-08-27-57-TwoArmThreading-00952"}
+{"episode_index": 942, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 228, "trajectory_id": "2025-02-03-07-17-07-TwoArmThreading-00669"}
+{"episode_index": 943, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-04-27-07-TwoArmThreading-00063"}
+{"episode_index": 944, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 262, "trajectory_id": "2025-02-03-07-35-20-TwoArmThreading-00735"}
+{"episode_index": 945, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 262, "trajectory_id": "2025-02-03-06-29-08-TwoArmThreading-00500"}
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+{"episode_index": 947, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-04-22-46-TwoArmThreading-00042"}
+{"episode_index": 948, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-07-07-22-TwoArmThreading-00634"}
+{"episode_index": 949, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-37-23-TwoArmThreading-00529"}
+{"episode_index": 950, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-04-54-05-TwoArmThreading-00167"}
+{"episode_index": 951, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-07-54-36-TwoArmThreading-00809"}
+{"episode_index": 952, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-07-57-24-TwoArmThreading-00821"}
+{"episode_index": 953, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-04-30-00-TwoArmThreading-00076"}
+{"episode_index": 954, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-05-35-41-TwoArmThreading-00313"}
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+{"episode_index": 958, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-07-31-12-TwoArmThreading-00720"}
+{"episode_index": 959, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-08-01-06-TwoArmThreading-00837"}
+{"episode_index": 960, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-06-41-21-TwoArmThreading-00543"}
+{"episode_index": 961, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 228, "trajectory_id": "2025-02-03-07-09-24-TwoArmThreading-00641"}
+{"episode_index": 962, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-08-30-48-TwoArmThreading-00964"}
+{"episode_index": 963, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-07-02-30-TwoArmThreading-00617"}
+{"episode_index": 964, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-05-29-21-TwoArmThreading-00290"}
+{"episode_index": 965, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-08-30-30-TwoArmThreading-00963"}
+{"episode_index": 966, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-07-47-04-TwoArmThreading-00779"}
+{"episode_index": 967, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-08-18-09-TwoArmThreading-00910"}
+{"episode_index": 968, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-05-07-02-TwoArmThreading-00212"}
+{"episode_index": 969, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-44-48-TwoArmThreading-00555"}
+{"episode_index": 970, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-08-37-26-TwoArmThreading-00993"}
+{"episode_index": 971, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-07-17-58-TwoArmThreading-00672"}
+{"episode_index": 972, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-05-36-48-TwoArmThreading-00317"}
+{"episode_index": 973, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 200, "trajectory_id": "2025-02-03-04-25-50-TwoArmThreading-00057"}
+{"episode_index": 974, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 202, "trajectory_id": "2025-02-03-07-50-07-TwoArmThreading-00791"}
+{"episode_index": 975, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-39-05-TwoArmThreading-00535"}
+{"episode_index": 976, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 228, "trajectory_id": "2025-02-03-08-23-22-TwoArmThreading-00932"}
+{"episode_index": 977, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-05-24-18-TwoArmThreading-00272"}
+{"episode_index": 978, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 200, "trajectory_id": "2025-02-03-04-17-31-TwoArmThreading-00015"}
+{"episode_index": 979, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-09-52-TwoArmThreading-00432"}
+{"episode_index": 980, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 262, "trajectory_id": "2025-02-03-06-30-00-TwoArmThreading-00503"}
+{"episode_index": 981, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 200, "trajectory_id": "2025-02-03-07-59-00-TwoArmThreading-00828"}
+{"episode_index": 982, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 183, "trajectory_id": "2025-02-03-07-03-42-TwoArmThreading-00621"}
+{"episode_index": 983, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 262, "trajectory_id": "2025-02-03-04-45-31-TwoArmThreading-00137"}
+{"episode_index": 984, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-07-26-08-TwoArmThreading-00702"}
+{"episode_index": 985, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-05-28-28-TwoArmThreading-00287"}
+{"episode_index": 986, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-15-14-TwoArmThreading-00451"}
+{"episode_index": 987, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-06-37-06-TwoArmThreading-00528"}
+{"episode_index": 988, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-05-32-10-TwoArmThreading-00300"}
+{"episode_index": 989, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-07-40-01-TwoArmThreading-00752"}
+{"episode_index": 990, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-07-03-58-TwoArmThreading-00622"}
+{"episode_index": 991, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-08-25-51-TwoArmThreading-00943"}
+{"episode_index": 992, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-05-02-05-TwoArmThreading-00195"}
+{"episode_index": 993, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 228, "trajectory_id": "2025-02-03-04-21-12-TwoArmThreading-00034"}
+{"episode_index": 994, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-05-28-12-TwoArmThreading-00286"}
+{"episode_index": 995, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 228, "trajectory_id": "2025-02-03-05-36-00-TwoArmThreading-00314"}
+{"episode_index": 996, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 202, "trajectory_id": "2025-02-03-08-32-10-TwoArmThreading-00970"}
+{"episode_index": 997, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-06-42-28-TwoArmThreading-00547"}
+{"episode_index": 998, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 233, "trajectory_id": "2025-02-03-05-41-24-TwoArmThreading-00333"}
+{"episode_index": 999, "tasks": ["pick the thread and insert it into the ring", "valid"], "length": 196, "trajectory_id": "2025-02-03-04-58-22-TwoArmThreading-00182"}
diff --git a/bimanual_panda_gripper.Threading/meta/info.json b/bimanual_panda_gripper.Threading/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ba9803788020e42fd5e92a283af2aedbbf8e30
--- /dev/null
+++ b/bimanual_panda_gripper.Threading/meta/info.json
@@ -0,0 +1,188 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "Panda",
+    "total_episodes": 1000,
+    "total_frames": 213493,
+    "total_tasks": 2,
+    "total_videos": 3000,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20.0,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                32
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11",
+                "motor_12",
+                "motor_13",
+                "motor_14",
+                "motor_15",
+                "motor_16",
+                "motor_17",
+                "motor_18",
+                "motor_19",
+                "motor_20",
+                "motor_21",
+                "motor_22",
+                "motor_23",
+                "motor_24",
+                "motor_25",
+                "motor_26",
+                "motor_27",
+                "motor_28",
+                "motor_29",
+                "motor_30",
+                "motor_31"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11",
+                "motor_12",
+                "motor_13"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.action.task_description": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.validity": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "observation.images.right_wrist_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_wrist_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.front_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/bimanual_panda_gripper.Threading/meta/modality.json b/bimanual_panda_gripper.Threading/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..900d8f3a23a9d8f65b61aa2b7413d1a84ee9a74c
--- /dev/null
+++ b/bimanual_panda_gripper.Threading/meta/modality.json
@@ -0,0 +1,87 @@
+{
+    "state": {
+        "left_arm_eef_pos": {
+            "start": 0,
+            "end": 3
+        },
+        "left_arm_eef_quat": {
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+            "original_key": "observation.images.front_view"
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+    "annotation": {
+        "human.action.task_description": {},
+        "human.validity": {}
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+}
\ No newline at end of file
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