` section.
-4. Edited original meshes: extracted servos into separate files, manually created convex collision meshes for the gripper jaws.
-5. Added extra box-shaped collision geoms to the gripper for additional contact points.
-6. Added an `exclude` clause to prevent collisions between `Base` and `Rotation_Pitch`.
-7. Added approximate joint limits.
-8. Added position-controlled actuators.
-9. Added `impratio="10"` and `cone="elliptic"` attributes for improved no-slip behavior.
-10. Created `scene.xml` to include the robot, along with a textured ground plane, skybox, and haze.
-
-## License
-
-This model is released under an [Apache-2.0 License](LICENSE).
diff --git a/robots/Siasun_SO-ARM100/mjcf/assets/Base.stl b/robots/Siasun_SO-ARM100/mjcf/assets/Base.stl
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diff --git a/robots/Siasun_SO-ARM100/mjcf/scene.xml b/robots/Siasun_SO-ARM100/mjcf/scene.xml
deleted file mode 100644
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+++ /dev/null
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-
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diff --git a/robots/Siasun_SO-ARM100/mjcf/so_arm100.png b/robots/Siasun_SO-ARM100/mjcf/so_arm100.png
deleted file mode 100644
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diff --git a/robots/Siasun_SO-ARM100/mjcf/so_arm100.xml b/robots/Siasun_SO-ARM100/mjcf/so_arm100.xml
deleted file mode 100644
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+++ /dev/null
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-
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diff --git a/robots/UFactory_Lite6/mjcf/CHANGELOG.md b/robots/UFactory_Lite6/mjcf/CHANGELOG.md
deleted file mode 100644
index 9fd4f896c57d37729cb7e084137b01853afa16e8..0000000000000000000000000000000000000000
--- a/robots/UFactory_Lite6/mjcf/CHANGELOG.md
+++ /dev/null
@@ -1,6 +0,0 @@
-# Changelog – Lite 6 Description
-
-All notable changes to this model will be documented in this file.
-
-## [2023-11-03]
-- Initial release.
diff --git a/robots/UFactory_Lite6/mjcf/LICENSE b/robots/UFactory_Lite6/mjcf/LICENSE
deleted file mode 100644
index 2ac522888a6639e7de4666d8c8e2c25e8eaf21a4..0000000000000000000000000000000000000000
--- a/robots/UFactory_Lite6/mjcf/LICENSE
+++ /dev/null
@@ -1,27 +0,0 @@
-Copyright (c) 2018, UFACTORY Inc.
-
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice,
- this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
- this list of conditions and the following disclaimer in the documentation
- and/or other materials provided with the distribution.
- * Neither the name of the copyright holder nor the names of its contributors
- may be used to endorse or promote products derived from this software
- without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
-CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robots/UFactory_Lite6/mjcf/README.md b/robots/UFactory_Lite6/mjcf/README.md
deleted file mode 100644
index 02e2e321690710c06f25c8b2e8e4087ee679a173..0000000000000000000000000000000000000000
--- a/robots/UFactory_Lite6/mjcf/README.md
+++ /dev/null
@@ -1,57 +0,0 @@
-# Lite 6 Description (MJCF)
-
-> [!IMPORTANT]
-> Requires MuJoCo 3.1.0 or later.
-
-## Changelog
-
-See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
-
-## Overview
-
-This package contains a simplified robot description (MJCF) of the
-[Lite 6](https://www.ufactory.cc/product-page/ufactory-lite-6) developed by
-[UFactory](https://www.ufactory.cc/). It is derived from the [publicly available
-URDF
-description](https://github.com/xArm-Developer/xarm_ros2/tree/master/xarm_description/urdf/lite6). 3 versions are provided: no gripper, wide gripper, and narrow gripper. The gripper fingers can be attached in two orientations, narrrow (so that they close fully) or wide (so that wider objects can be gripped). This provides some flexibility with the limited range of the gripper.
-
-
- No gripper
-
-
-
- Wide gripper configuration, fully closed (initial position) and open
-
-
-
- Narrow gripper confgiguration, fully closed (initial position) and open
-
-
-## URDF → MJCF derivation steps
-
-1. Added ` ` to the URDF's
- `` clause in order to preserve visual geometries.
-2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
-3. Manually edited the MJCF to extract common properties into the `` section.
-4. Added actuators.
-5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
-
-### Gripper
-
-The URDF only contains a gripper model for the Lite 6 with the fingers fused to the gripper body. To separate the fingers, the .step file of the fused body from the [Ufactory website](https://www.ufactory.cc/download/) was loaded into Onshape ([file here](https://cad.onshape.com/documents/f60aac1c8ff6af8f490dc855/w/5c0df4bc7414802fc89a514e/e/7dc41825dd66894c14b085ca?renderMode=0&uiState=66bdfb41f48d6a182064f4a4)) and split along the tracks that the fingers run on. Because MuJoCo forms a convex hull for collision meshes, it was necessary to separate the wide fingers into the base and tip for realistic gripping.
-
-Because they are actuated via an air compressor, a single `motor` actuator was used in the model, with an equality constraint to mimic the gearing mechanism that keeps them equidistant from the centre. There is no position control of the gripper.
-
-The moments of inertia were estimated in Onshape due to not having any data from the manufacturer. This was done by choosing a density that matched the mass of the actual part, and assuming a uniform mass distribution (which is not the actual case but should be close enough).
-
-
-
-
-## License
-
-This model is released under a [BSD-3-Clause License](LICENSE).
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diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/CHANGELOG.md b/robots/Unitree_Z1_Robotic_Arm/mjcf/CHANGELOG.md
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-# Changelog – Unitree Z1 Description
-
-All notable changes to this model will be documented in this file.
-
-## [2023-12-14]
-- Initial release.
diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/LICENSE b/robots/Unitree_Z1_Robotic_Arm/mjcf/LICENSE
deleted file mode 100644
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-BSD 3-Clause License
-
-Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
- list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
- this list of conditions and the following disclaimer in the documentation
- and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
- contributors may be used to endorse or promote products derived from
- this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/README.md b/robots/Unitree_Z1_Robotic_Arm/mjcf/README.md
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-# Unitree Z1 description (MJCF)
-
-> [!IMPORTANT]
-> Requires MuJoCo 2.3.3 or later.
-
-## Changelog
-
-See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
-
-## Overview
-
-This package contains a simplified robot description (MJCF) of the [Z1
-manipulator](https://www.unitree.com/z1/) developed by [Unitree
-Robotics](https://www.unitree.com/). It is derived from the [publicly available
-URDF
-description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/z1_description/).
-
-
-
-
-## URDF → MJCF derivation steps
-
-1. Added `` clause in order to preserve visual geometries.
-2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
-3. Manually edited the MJCF to extract common properties into the `` section.
-4. Added position-control actuators.
-5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
-
-## License
-
-This model is released under a [BSD-3-Clause License](LICENSE).
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-version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md b/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md
deleted file mode 100644
index b999378a3bc2737dbb1aff36cb55fc50f7b13b86..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md
+++ /dev/null
@@ -1,6 +0,0 @@
-# Changelog – Universal Robots UR10e Description
-
-All notable changes to this model will be documented in this file.
-
-## [2022-09-07]
-- Initial release.
diff --git a/robots/Universal_Robots_UR10e/mjcf/LICENSE b/robots/Universal_Robots_UR10e/mjcf/LICENSE
deleted file mode 100644
index f24e07cb6524f2a5e42a466c27c655a9ceb674a6..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/mjcf/LICENSE
+++ /dev/null
@@ -1,26 +0,0 @@
-Copyright 2018 ROS Industrial Consortium
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation and/or
-other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its contributors
-may be used to endorse or promote products derived from this software without
-specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robots/Universal_Robots_UR10e/mjcf/README.md b/robots/Universal_Robots_UR10e/mjcf/README.md
deleted file mode 100644
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--- a/robots/Universal_Robots_UR10e/mjcf/README.md
+++ /dev/null
@@ -1,50 +0,0 @@
-# Universal Robots UR10e Description (MJCF)
-
-> [!IMPORTANT]
-> Requires MuJoCo 2.3.3 or later.
-
-## Changelog
-
-See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
-
-## Overview
-
-This package contains a simplified robot description (MJCF) of the
-[UR10e](https://www.universal-robots.com/products/ur10-robot/) developed by
-[Universal Robots](https://www.universal-robots.com/). It is derived from the
-[publicly available URDF
-description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
-
-
-
-
-### URDF → MJCF derivation steps
-
-1. Converted the DAE [mesh
- files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur10e/visual)
- to OBJ format using [Blender](https://www.blender.org/).
- - In this process, the Z axis of the joint that a link is connected to should point up.
-2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
-3. Added ` ` to the URDF's
- `` clause in order to preserve visual geometries.
-4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
-5. Added a tracking light to the base.
-6. Manually edited the MJCF to extract common properties into the `` section.
-7. Manually edited colors to match UR10 colors.
-8. Added position-controlled actuators and joint damping and armature. Note
- that these values have not been carefully tuned -- contributions are more
- than welcome to improve them.
-9. Added home joint configuration as a `keyframe`.
-10. Manually designed collision geometries to be as realistic as the UR10's shape.
-11. Added `scene.xml`, which includes the robot, with a textured ground plane, skybox, and haze.
-
-### Notes
-
-Although the model is stable in the `scene.xml`, you might see unstable behavior when combined with
-other models (i.e., Robotiq-2F85 gripper). Switching the integrator from `Euler` to `RK4` helps in
-these cases.
-
-## License
-
-This model is released under a [BSD-3-Clause License](LICENSE).
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deleted file mode 100644
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--- a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/base.dae
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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--- a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/forearm.dae
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deleted file mode 100644
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deleted file mode 100644
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--- a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/upperarm.dae
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deleted file mode 100644
index 29de0091bdedaa5111ecb4a5ff1806540d5b6627..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist3.dae
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json b/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json
deleted file mode 100644
index 4d661e3b82232d44285e94fd6c184559ee9da897..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json
+++ /dev/null
@@ -1,88 +0,0 @@
-{
- "robots": [
- {
- "name": "UR3",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur3.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 240
- },
- {
- "name": "UR5",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur5.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 241
- },
- {
- "name": "UR10",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur10.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 242
- },
- {
- "name": "UR3e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur3e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 243
- },
- {
- "name": "UR5e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur5e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 244
- },
- {
- "name": "UR10e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur10e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 245
- },
- {
- "name": "UR16e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur16e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 246
- }
- ]
-}
\ No newline at end of file
diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf b/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf
deleted file mode 100644
index fc5f08b4d266c50bfc9b488700e14589141deae0..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf
+++ /dev/null
@@ -1,360 +0,0 @@
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- 1
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- 1
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- 1
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-
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-
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- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- 1
-
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-
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-
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- 1
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-
diff --git a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png
deleted file mode 100644
index ab0766859b7a0f4346622b4129f56a741a063a92..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aa71d5d56a9b3433b8c8be9cbc3fa0f41741e6a498acbaf2fe89ad9804ea2d09
-size 19350
diff --git a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png
deleted file mode 100644
index e7105b5f0eabdccd0d1b2b30f8021907a95d89fb..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:275a534c57ffedd3783bc188f92bbe3579f5ad5933731f17758665c4bef40ba7
-size 19374
diff --git a/robots/Universal_Robots_UR10e/usd/ur10e.usd b/robots/Universal_Robots_UR10e/usd/ur10e.usd
deleted file mode 100644
index 99d735fa85e05d598be3692967ab97fa360e2616..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR10e/usd/ur10e.usd
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58548e7ff3fb75b3ad549861ebc8bc44e3f3c8ab43734c2031978c5aa8146377
-size 4248
diff --git a/robots/Universal_Robots_UR5e/check.py b/robots/Universal_Robots_UR5e/check.py
deleted file mode 100644
index b4b3a2a1db676a3b9b54eefbedd41931c1eea923..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR5e/check.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from pxr import Usd, UsdPhysics
-
-stage = Usd.Stage.Open("/home/zuo/Documents/RoboVerse/roboverse_data/robots/universal_robots_ur5e/ur5e/ur5e.usd")
-for prim in stage.Traverse():
- if prim.IsA(UsdPhysics.RevoluteJoint) or prim.IsA(UsdPhysics.PrismaticJoint):
- joint = UsdPhysics.RevoluteJoint(prim) if prim.IsA(UsdPhysics.RevoluteJoint) else UsdPhysics.PrismaticJoint(prim)
- name = prim.GetPath().pathString
- lo = joint.GetLowerLimitAttr().Get()
- hi = joint.GetUpperLimitAttr().Get()
- print(name, lo, hi)
diff --git a/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md b/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md
deleted file mode 100644
index 9fb3c15bda6aa86a68fd9b3a8883201fa0824ed7..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md
+++ /dev/null
@@ -1,6 +0,0 @@
-# Changelog – Universal Robots UR5e Description
-
-All notable changes to this model will be documented in this file.
-
-## [2022-09-07]
-- Initial release.
diff --git a/robots/Universal_Robots_UR5e/mjcf/LICENSE b/robots/Universal_Robots_UR5e/mjcf/LICENSE
deleted file mode 100644
index f24e07cb6524f2a5e42a466c27c655a9ceb674a6..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR5e/mjcf/LICENSE
+++ /dev/null
@@ -1,26 +0,0 @@
-Copyright 2018 ROS Industrial Consortium
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation and/or
-other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its contributors
-may be used to endorse or promote products derived from this software without
-specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robots/Universal_Robots_UR5e/mjcf/README.md b/robots/Universal_Robots_UR5e/mjcf/README.md
deleted file mode 100644
index d73bd4ef1b74ad3ead04535a7d7a48a9fb0161fc..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR5e/mjcf/README.md
+++ /dev/null
@@ -1,41 +0,0 @@
-# Universal Robots UR5e Description (MJCF)
-
-> [!IMPORTANT]
-> Requires MuJoCo 2.3.3 or later.
-
-## Changelog
-
-See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
-
-## Overview
-
-This package contains a simplified robot description (MJCF) of the
-[UR5e](https://www.universal-robots.com/products/ur5-robot/) developed by
-[Universal Robots](https://www.universal-robots.com/). It is derived from the
-[publicly available URDF
-description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
-
-
-
-
-### URDF → MJCF derivation steps
-
-1. Converted the DAE [mesh
- files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur5e/visual)
- to OBJ format using [Blender](https://www.blender.org/).
-2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
-3. Added ` ` to the URDF's
- `` clause in order to preserve visual geometries.
-4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
-5. Added a tracking light to the base.
-6. Manually edited the MJCF to extract common properties into the `` section.
-7. Added position-controlled actuators. Max joint torque values were taken from
- [here](https://www.universal-robots.com/articles/ur/robot-care-maintenance/max-joint-torques/).
-8. Added home joint configuration as a `keyframe`.
-9. Manually designed collision geometries.
-10. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze.
-
-## License
-
-This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/robots/Universal_Robots_UR5e/mjcf/assets/base_0.obj b/robots/Universal_Robots_UR5e/mjcf/assets/base_0.obj
deleted file mode 100644
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+++ /dev/null
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deleted file mode 100644
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deleted file mode 100644
index 4d661e3b82232d44285e94fd6c184559ee9da897..0000000000000000000000000000000000000000
--- a/robots/Universal_Robots_UR5e/urdf/ur_description/meta-information.json
+++ /dev/null
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-{
- "robots": [
- {
- "name": "UR3",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur3.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 240
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- {
- "name": "UR5",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur5.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
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- },
- {
- "name": "UR10",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur10.urdf"
- ],
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- "id": 242
- },
- {
- "name": "UR3e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur3e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 243
- },
- {
- "name": "UR5e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur5e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 244
- },
- {
- "name": "UR10e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur10e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 245
- },
- {
- "name": "UR16e",
- "type": "robotic arm",
- "manufacturer": "Universal Robots",
- "xacro-generated": true,
- "urdf": [
- "urdf/ur16e.urdf"
- ],
- "variant": null,
- "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
- "id": 246
- }
- ]
-}
\ No newline at end of file
diff --git a/robots/Universal_Robots_UR5e/urdf/ur_description/urdf/ur5e.urdf b/robots/Universal_Robots_UR5e/urdf/ur_description/urdf/ur5e.urdf
deleted file mode 100644
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diff --git a/robots/Universal_Robots_UR5e/usd/.thumbs/256x256/ur5e.usd.png b/robots/Universal_Robots_UR5e/usd/.thumbs/256x256/ur5e.usd.png
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diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md b/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md
deleted file mode 100644
index 4c47e98bdee2fc6d27de1db592f499f747673cc6..0000000000000000000000000000000000000000
--- a/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# Changelog – YAM Description
-
-All notable changes to this model will be documented in this file.
-
-## [2025-05-19]
-
-- Initial release.
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE b/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE
deleted file mode 100644
index 12db7704f0a71570309c12f351dd656a8dec3b63..0000000000000000000000000000000000000000
--- a/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE
+++ /dev/null
@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2025 i2rt robotics
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/README.md b/robots/Yet_Another_Manipulator_YAM/mjcf/README.md
deleted file mode 100644
index 638b2702a7caba566f3a2c47d6cda3603604b0e1..0000000000000000000000000000000000000000
--- a/robots/Yet_Another_Manipulator_YAM/mjcf/README.md
+++ /dev/null
@@ -1,34 +0,0 @@
-# Yet Another Manipulator (YAM) Description (MJCF)
-
-> [!IMPORTANT]
-> Requires MuJoCo 3.1.3 or later.
-
-## Changelog
-
-See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
-
-## Overview
-
-This package contains a simplified robot description (MJCF) of the [YAM robot](https://i2rt.com/products/yam-manipulator) developed by [I2
-RT Robotics](https://i2rt.com/). It is derived from the [publicly available
-URDF
-description](https://github.com/i2rt-robotics/i2rt/blob/main/robot_models/yam/yam.urdf).
-
-
-
-
-## MJCF derivation steps
-
-1. Started from `yam.urdf` (commit SHA d4efb66d81bd8bde42909880b16591d4af82e8c0).
-2. Added the following to the URDF `` tag `
-
-
-
-
-
-
-
-
-
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/yam.png b/robots/Yet_Another_Manipulator_YAM/mjcf/yam.png
deleted file mode 100644
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--- a/robots/Yet_Another_Manipulator_YAM/mjcf/yam.png
+++ /dev/null
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deleted file mode 100644
index a72460a9a05df35102bf8b81e84b35049ee7c0aa..0000000000000000000000000000000000000000
--- a/robots/Yet_Another_Manipulator_YAM/mjcf/yam.xml
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diff --git a/robots/franka_allegro_hand/urdf/allegro_left.urdf b/robots/franka_allegro_hand/urdf/allegro_left.urdf
deleted file mode 100644
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--- a/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.bat
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-REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
-REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
-
-SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
-forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx"
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.mlx b/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.mlx
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--- a/robots/franka_allegro_hand/urdf/franka_meshes/visual/daetoobj.bat
+++ /dev/null
@@ -1,5 +0,0 @@
-SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
-forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
-
-REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
-REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt
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--- a/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.dae
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--- a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.obj
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deleted file mode 100644
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Binary files a/robots/franka_calvin/meshes/visual/~$Assem1.SLDASM and /dev/null differ
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deleted file mode 100644
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diff --git a/robots/franka_calvin/meshes/visual/~$finger.SLDPRT b/robots/franka_calvin/meshes/visual/~$finger.SLDPRT
deleted file mode 100644
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Binary files a/robots/franka_calvin/meshes/visual/~$finger.SLDPRT and /dev/null differ
diff --git a/robots/franka_calvin/panda.urdf b/robots/franka_calvin/panda.urdf
deleted file mode 100644
index 2d7c35a04ec2bc2783560ffdb9dcfcaa160c8a5e..0000000000000000000000000000000000000000
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deleted file mode 100644
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deleted file mode 100644
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index de3a8b78eeac5742092431ac303369629c07571d..b577aa028d5e0fe38483f9d4cd0ed0b6ab54ec2d 100644
--- a/robots/franka_shadow_hand/mjcf/franka_shadow_left.xml
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deleted file mode 100644
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-{
- "task_name": "libero_90_kitchen_scene1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it",
- "robot_name": "franka",
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-{
- "task_name": "libero_90_kitchen_scene1_open_the_top_drawer_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
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+++ /dev/null
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-{
- "task_name": "libero_90_kitchen_scene1_put_the_black_bowl_on_the_plate",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene1_put_the_black_bowl_on_the_plate_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene1_put_the_black_bowl_on_the_plate_traj_v2.pkl
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-version https://git-lfs.github.com/spec/v1
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-{
- "task_name": "libero_90_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
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-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
deleted file mode 100644
index ec0651370a8f39e179cd6075d5afa49054753ee4..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8b526aa16d4227543e755227a0e0339f16d3d49ce3eabe6e8e0f87cfea8a6412
-size 6364284
diff --git a/trajs/libero90/libero_90_kitchen_scene1_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene1_traj_v2.pkl
deleted file mode 100644
index 268664ba9d65d5a3d52a70bec56d2bdb3cdfa585..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene1_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:24b86fde43c17dd8aa538d9e137c499fe76f7de706560e157fec85eb9ee873d4
-size 3574737
diff --git a/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_metadata.json
deleted file mode 100644
index 659926aadac2c0f9b4730e3e9c1937e185789173..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_traj_v2.pkl
deleted file mode 100644
index cfe494db9def41ba9b45576b65e40416a4ce1e51..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_open_the_top_drawer_of_the_cabinet_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7880411228b0b6ef29fb37b353c51e2506ea82a4a819f7dfc3583c4989032447
-size 4155348
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_metadata.json
deleted file mode 100644
index 543bb2ecf5967247fc41d95d5e778f2088e20c90..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_traj_v2.pkl
deleted file mode 100644
index 52f90444ec904ccd125b82dd0d4ad990413f0204..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fc319a9896c8f8e626ac362a49e05fc833ad231c1d871e38a5ddb7ee3bb38bde
-size 6088197
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_metadata.json
deleted file mode 100644
index 0b70c68edaae98f17a252d2d2400d3e73be18c56..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_traj_v2.pkl
deleted file mode 100644
index 4ad0d7783c21b798d91f009138d63bdd123de382..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d2ed896e8790cce46b49385f6231065764f15fc2c527fab336bb985b3430b5ac
-size 7583886
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_metadata.json
deleted file mode 100644
index 02df798f3aae60f1979c86dd7508afd0c53a7add..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_put_the_black_bowl_in_the_middle_on_the_plate_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_traj_v2.pkl
deleted file mode 100644
index 3c96440f3574a5d983999881a9662f9606594fca..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33065dd5b98487cbe1cb718be7c9083a8aaee45c276185234f83b82c66df530c
-size 5930133
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_metadata.json
deleted file mode 100644
index 20d6bb18bf687f0e641eb7703a913f117c28d56b..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
deleted file mode 100644
index 1338b7693fb838d59c8acf78a4666cd899271e31..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a952582aea188a32fa0224a130f472597700929a9d48e154a0813e990d61b928
-size 7486873
diff --git a/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_metadata.json
deleted file mode 100644
index b5f786f625ddaabb7e3de039aac05d843ba5d662..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_traj_v2.pkl
deleted file mode 100644
index 60b202b44449913f94960bcb2c04fe9c170090d4..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6fb5bf79e77d429060ad966a62dfeedfbbecb06309cad2e9a57e891e4944c0d1
-size 7044306
diff --git a/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_metadata.json b/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_metadata.json
deleted file mode 100644
index d6027153e45e4a000298b6bfe328b4f9f5352249..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_traj_v2.pkl
deleted file mode 100644
index bea6a6003796c3de1ab321e49fbeba1ab0f94b41..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:07f9fe196462507fe30995e3b5fd1a3e56227877b7258509abcdf5d9ce165a8d
-size 6297527
diff --git a/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_metadata.json b/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_metadata.json
deleted file mode 100644
index 9d7eb592829f969d51a44767fcd80213c1d06257..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_traj_v2.pkl
deleted file mode 100644
index 32cdf015a323fb382248ecbee0a27755d5f75577..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_put_the_frying_pan_on_the_stove_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4c0aae5b85623e4e1de70e369d9f37b1eaca14699658d13f51613d453f64caaf
-size 8492080
diff --git a/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_metadata.json b/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_metadata.json
deleted file mode 100644
index 44718a1086df511dd6e5d967cf2510c44345854c..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_traj_v2.pkl
deleted file mode 100644
index fde61e2541020a3a3e766385633d765647bffe32..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_put_the_moka_pot_on_the_stove_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:18fb3f294b5a4e71d6f94309e6955e46e8615db292cc0afa7afe3a8901e031c7
-size 6445445
diff --git a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_metadata.json b/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_metadata.json
deleted file mode 100644
index 1d0c16c1ffd8e6804d6fbdc568c6680a1cb601d7..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_traj_v2.pkl
deleted file mode 100644
index dda1faefa5cf0703ba12c9194cb4f05f7c3bd92b..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_and_put_the_frying_pan_on_it_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5c8a893d775aa1784818d04d2f4a4cba888db51af4c1d881bf94d6882e2a238e
-size 11909376
diff --git a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_metadata.json b/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_metadata.json
deleted file mode 100644
index 30a461671abf975f35cd12591aa6dd69a535a6ef..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene3_turn_on_the_stove",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE3_turn_on_the_stove_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_traj_v2.pkl
deleted file mode 100644
index 8d0b83b8128e0a97db514687cae9c7cee2a00229..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene3_turn_on_the_stove_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0907d11b998c8b554fddf75735b586d83b39288c8f1b528f07f2abd0a3b89605
-size 3973533
diff --git a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_metadata.json
deleted file mode 100644
index 73f28d90b95f00c5a80c53d47017623beeec55df..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_traj_v2.pkl
deleted file mode 100644
index 305623ec51e1f0860bde23ffe221354aa0f40bc5..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e847c091491b5ee018f91f5598be79d4c746aaa0bae4135e8deecd5c8834fce
-size 11927498
diff --git a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_metadata.json
deleted file mode 100644
index f8c360f7caa1450a6ec29131a6c0d9d70dbdea80..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
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-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
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--- a/trajs/libero90/libero_90_kitchen_scene4_close_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_metadata.json
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+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
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-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
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--- a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet_metadata.json
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+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
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-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
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--- a/trajs/libero90/libero_90_kitchen_scene4_put_the_black_bowl_on_top_of_the_cabinet_traj_v2.pkl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_metadata.json
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+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
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--- a/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_traj_v2.pkl
+++ /dev/null
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diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_on_the_wine_rack_metadata.json b/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_on_the_wine_rack_metadata.json
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+++ /dev/null
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-{
- "task_name": "libero_90_kitchen_scene4_put_the_wine_bottle_on_the_wine_rack",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_on_the_wine_rack_traj_v2.pkl b/trajs/libero90/libero_90_kitchen_scene4_put_the_wine_bottle_on_the_wine_rack_traj_v2.pkl
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--- a/trajs/libero90/libero_90_living_room_scene1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket_traj_v2.pkl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene1_pick_up_the_ketchup_and_put_it_in_the_basket_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene1_pick_up_the_ketchup_and_put_it_in_the_basket_traj_v2.pkl
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene1_pick_up_the_ketchup_and_put_it_in_the_basket_traj_v2.pkl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene1_pick_up_the_tomato_sauce_and_put_it_in_the_basket_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene1_pick_up_the_tomato_sauce_and_put_it_in_the_basket_traj_v2.pkl
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+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-version https://git-lfs.github.com/spec/v1
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-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene2_pick_up_the_milk_and_put_it_in_the_basket_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene2_pick_up_the_milk_and_put_it_in_the_basket_traj_v2.pkl
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--- a/trajs/libero90/libero_90_living_room_scene2_pick_up_the_milk_and_put_it_in_the_basket_traj_v2.pkl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene2_pick_up_the_orange_juice_and_put_it_in_the_basket_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene2_pick_up_the_orange_juice_and_put_it_in_the_basket_traj_v2.pkl
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene2_pick_up_the_orange_juice_and_put_it_in_the_basket_traj_v2.pkl
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 986b0e2239f9001e623b65dfa44adb5473f2f3ba..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene2_pick_up_the_tomato_sauce_and_put_it_in_the_basket_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 6462009
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
index 4a7cb4c81c18f6d2dbd270989e72ba006a3afdc0..0000000000000000000000000000000000000000
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+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
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+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index 70752f6ebcd6b6846e74b44560965098a3c62a4d..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_butter_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
index 75ae6eec0d8680f13d8af367a51514059cecb443..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_cream_cheese_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index efd2fe0776fff7432d079add12f5d1a9cb7c5d3b..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_ketchup_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index bb04a14867597a99772d57731496fc24766e66a3..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 5871164
diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
index 7bfee7566db7accfedb5623faa33ac09b81dc006..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index 6d1921f7248253c66d46fb2fbb41ef856b23928b..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 5999141
diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
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--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index a7f927e496f2414dc3e00647b58496538f8e8d43..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_metadata.json
deleted file mode 100644
index c35d396524373f2d79e7dc5d8a879a9658004473..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray_demo.hdf5"
-}
\ No newline at end of file
diff --git a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_traj_v2.pkl b/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_traj_v2.pkl
deleted file mode 100644
index 1f94ba2600800ad11f5b911c42def5890095ba7e..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_pick_up_the_salad_dressing_and_put_it_in_the_tray_traj_v2.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/trajs/libero90/libero_90_living_room_scene4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_metadata.json b/trajs/libero90/libero_90_living_room_scene4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_metadata.json
deleted file mode 100644
index f29dde73bce8deafc30f72f5d2cb131e759027cc..0000000000000000000000000000000000000000
--- a/trajs/libero90/libero_90_living_room_scene4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_metadata.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "task_name": "libero_90_living_room_scene4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray",
- "robot_name": "franka",
- "num_episodes": 50,
- "source": "libero",
- "original_file": "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_demo.hdf5"
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\ No newline at end of file
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-{
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